EP0412398B1 - Mesure du volume de matériau excavé à partir du profil de coupe d'une roue excavatrice ou similaire - Google Patents

Mesure du volume de matériau excavé à partir du profil de coupe d'une roue excavatrice ou similaire Download PDF

Info

Publication number
EP0412398B1
EP0412398B1 EP90114611A EP90114611A EP0412398B1 EP 0412398 B1 EP0412398 B1 EP 0412398B1 EP 90114611 A EP90114611 A EP 90114611A EP 90114611 A EP90114611 A EP 90114611A EP 0412398 B1 EP0412398 B1 EP 0412398B1
Authority
EP
European Patent Office
Prior art keywords
conveyed
bucket
laser scanner
wheel
volume measurement
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
Application number
EP90114611A
Other languages
German (de)
English (en)
Other versions
EP0412398A1 (fr
Inventor
Edmund Heimes
Hans-Jörg Nüsslin
Johann Hipp
Franz-Josef Hartlief
Franz-Arno Fassbender
Ralf Eckoldt
Dieter Dr. Henning
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.)
Ibeo Ingenieurbuero fur Elektronik und Optik J Hipp and G Brohan
Rheinbraun AG
Siemens AG
Original Assignee
Ibeo Ingenieurbuero fur Elektronik und Optik J Hipp and G Brohan
Rheinbraun AG
Rheinische Braunkohlenwerke AG
Siemens 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 Ibeo Ingenieurbuero fur Elektronik und Optik J Hipp and G Brohan, Rheinbraun AG, Rheinische Braunkohlenwerke AG, Siemens AG filed Critical Ibeo Ingenieurbuero fur Elektronik und Optik J Hipp and G Brohan
Publication of EP0412398A1 publication Critical patent/EP0412398A1/fr
Application granted granted Critical
Publication of EP0412398B1 publication Critical patent/EP0412398B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/18—Dredgers; Soil-shifting machines mechanically-driven with digging wheels turning round an axis, e.g. bucket-type wheels
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices

Definitions

  • the invention relates to the measurement of the delivery volume in a bucket wheel excavator or other material-removing surface mining device, the surface profile of the solid material to be removed next to the bucket wheel being continuously scanned by means of a radiation transmitter / receiver carried by the bucket wheel excavator and from the difference between the detected surface profile and that generated by the bucket wheel Cutting contour and the pivoting speed of the paddle wheel, the delivery volume of the conveyed solid material is determined.
  • DE-A-1 634 712 Such a delivery volume measurement in a bucket wheel excavator is known from DE-A-1 634 712, the scanning of the surface to be removed from the bucket wheel using beams, such as, for. B. of ultrasonic waves, electromagnetic vibrations or photoelectric light barriers is specified as an alternative to mechanical scanning.
  • beams such as, for. B. of ultrasonic waves, electromagnetic vibrations or photoelectric light barriers.
  • DE-A-1 634 712 does not show how the surface is to be scanned with the aid of the beams.
  • DE-A-34 11 540 a method for measuring the delivery volume in belt conveyors is known, the surface of the bulk material being scanned across the conveying direction at several measuring points with the aid of laser distance measuring devices operating according to the pulse transit time measuring principle.
  • a laser distance measuring device is provided for each measuring point, so that the number of devices required depends on the width of the belt conveyor.
  • the determination of the chip volume should be insensitive to different temperatures, to whirled up dust and the other environmental influences. The results obtained should be so precise that it is possible to regulate the dismantling process and create an oversize.
  • the radiation transmitter / receiver is a laser scanner which generates a pulsed laser beam in the initially mentioned delivery volume measurement and measures the surface profile by measuring the distance and the angle from the laser scanner to points on the surface of the solid material, the distance between the points and the laser scanner being measured in a computer by evaluating the propagation time of the pulsed laser light.
  • the control of the paddle wheel movement can be optimized in this way.
  • the use of a laser scanner has the advantage that the area to be machined is recorded in a line.
  • the line-by-line or wavy-line scanning not only makes it possible to record individual data, but also the configuration of the dismantling front.
  • the use of a laser scanner, preferably a solid-state laser, which preferably works with a wavelength of 905 nanometers, a pulse rate of 3.6 kHz and a pulse duration of approximately 10 nanoseconds, is particularly advantageous for the scanning, since its very little diverging light
  • a high energy density is achieved by means of a low-cost optics, whereby errors due to excessive scattering, insufficient reflection, etc. are avoided or reduced.
  • the laser scanners 8, 9 are mounted next to the paddle wheel 6 with the blades 5 on the paddle wheel carrier 7 and measure primarily the downward profile part 2.
  • the profile is determined from distance / angle value pairs.
  • the distance to individual points of the surface profile is measured by evaluating the transit time of the laser beam generated in a computer downstream of the laser scanner 8, 9.
  • a start pulse is first generated, the reflected portion of which is extended by delay lines, preferably in the form of a coil, and used for a start-stop measurement. It is primarily the profile 1, 2 of that side that is used for the control towards which the paddle wheel 6 moves.
  • the second laser scanner 8 can also be dispensed with.
  • the paddle wheel 6 rotates and mills off the solid material 1 by the surface dimension 4.
  • the rear profile 12 (milled solid material), as shown in FIG. 2, is predetermined by the contour of the paddle wheel 6, since all of the above material is forcibly milled away.
  • the cross-sectional area 14 of the respective chip is calculated from the rear contour 12 and the measured profile 13.
  • the overlap of the bucket wheel 6 over the measured profile of the laser scanner 9 represents this difference surface.
  • the bucket wheel 6 mills laterally into the solid material due to the swiveling movement of the excavator. The faster the swivel movement, the greater the volume of the chip.
  • the volume swept by the chip cross-sectional area 14 represents the conveyed volume flow of the solid material currently milled away.
  • the necessary calculations for solid material, conveying volume, chip thickness, chip height, position of the cut surface and oversize are carried out in a computer which is the laser scanner 9 is connected downstream.
  • This computer can be integrated in the laser scanner 9.
  • the swiveling radius, the swiveling speed, the lifting angle ⁇ of the bucket wheel boom 7, the mounting position of the laser scanner 8, 9, further geometric dimensions of the excavator as well as its location in space is necessary.
  • This information can easily be stored in the computer of the laser scanner 8, 9.
  • the computer is advantageously equipped with a permanent memory.
  • the stroke angle ⁇ of the bucket wheel boom 7 can be used directly in the laser scanner 8, 9 or in the downstream computer.
  • the length of the bucket wheel boom 7 is a known parameter.
  • the information is sufficient to calculate the solid material volume flow from the profile data in the laser scanner 8, 9 or in the downstream computer, without further measured values having to be supplied to the laser scanner 8, 9 or the downstream computer. If the excavator 16 is tilted, a correction may be necessary which can be determined from a plumb measurement and which is given to the computer as a correction variable.
  • the spatial profile must be oriented in space by reference to the solder 15.
  • the profile part on the level 3 can be approximated by a straight line.
  • the slope of this straight line can be calculated.
  • the height of the paddle wheel 6 above the level can also be determined from the profile in which the projection onto the vertical is calculated from the oblique distance to the approximated straight line in the level.
  • ACTUAL values for the location of the impeller 6 can be calculated from both variables. The location of the bucket wheel 6 relative to the position of the excavator 16 can thus be continuously avoided. If 6 DESIRED values are specified for the location of the impeller, a control variable for controlling the impeller 6 on any surface shapes can be derived from the difference between the ACTUAL values and REQUIRED values.
  • the distance of the boom 7 from the material present can also be calculated. Falling short of a certain distance can be used very advantageously to trigger a collision alarm.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
  • Branching, Merging, And Special Transfer Between Conveyors (AREA)
  • Sorting Of Articles (AREA)
  • Special Conveying (AREA)
  • Earth Drilling (AREA)

Claims (8)

  1. Mesure de volume refoulé dans une excavatrice (16) à roue à godets ou dans un autre appareil d'exploitation à ciel ouvert, qui réalise un enlèvement de matériau, selon laquelle le profil de la surface du matériau solide (1), qui doit être enlevé et qui est présent à côté de la roue à godets (6), est exploré en permanence au moyen d'un émetteur/ récepteur de rayonnement (9) entraîné conjointement par l'excavatrice (16) à roue à godets et que le volume refoulé du matériau solide entraîné (1) est déterminé à partir de la différence entre le profil de surface détecté (13) et le contour en coupe (12) produit par la roue à godets (6) ainsi que la vitesse de basculement de la roue à godets (6),
    caractérisée par le fait
    que l'émetteur/récepteur de rayonnement (9) est un scanner laser, qui produit un faisceau laser pulsé et mesure le profil de surface (13) au moyen de la mesure de la distance et de l'angle du scanner laser par rapport à des points situés sur la surface (13) du matériau solide (1), la mesure de la distance entre les points et le scanner laser (9) s'effectuant dans un calculateur par évaluation du temps de propagation de la lumière laser pulsée.
  2. Mesure de volume refoulé suivant la revendication 1, caractérisée par le fait que la détermination du contour en coupe (12) formé par la roue à godets (6) s'effectue à partir des dimensions géométriques de la roue à godets (6).
  3. Mesure de volume refoulé suivant la revendication 1, caractérisée par le fait que la détermination du contour en coupe (12) produit par la roue à godets (6) s'effectue par exploration du contour en coupe (12) à l'aide d'un autre scanner laser (8).
  4. Mesure de volume refoulé suivant la revendication 1, 2 ou 3, caractérisée par le fait que la détermination du volume refoulé s'effectue en outre en fonction de l'angle de la course (a) du support (7) de la roue à godets.
  5. Mesure de volume refoulé suivant l'une des revendications précédentes, caractérisée par le fait que les scanners lasers (8, 9) et le calculateur sont reliés à une mémoire morte dans laquelle sont mémorisés des paramètres concernant l'excavatrice (16) et la position du montage du scanner laser (8, 9), et des valeurs d'ajustement.
  6. Mesure de volume refoulé suivant l'une des revendications précédentes, caractérisée par le fait que le scanner laser (8, 9) exécute la mesure sur une cible, interne à l'appareil, de l'excavatrice (16) dans des plages angulaires qui ne sont pas utilisées pour l'exploration du profil de surface (12, 13), et la distance mesurée et connue est utilisée comme valeur de contrôle pour l'aptitude au fonctionnement du scanner laser (8, 9) à sa valeur d'étalonnage.
  7. Mesure de volume refoulé suivant l'une des revendications précédentes, caractérisée par le fait que pour la détermination du temps de propagation d'impulsions, on produit tout d'abord une impulsion de démarrage, dont le temps de propagation de la partie réfléchie est allongé par l'intermédiaire de lignes à retard, de préférence sous la forme de bobines, la partie réfléchie étant utilisée pour une mesure de démarrage - arrêt.
  8. Mesure de volume refoulé suivant l'une des revendications précédentes, caractérisée par le fait que le scanner laser (8, 9) travaille avec des impulsions ayant des durées de 1 - 10 nanosecondes et une fréquence d'impulsions située dans la gamme des kilohertz et de préférence dans la gamme de 3 - 30 kHz.
EP90114611A 1989-08-08 1990-07-30 Mesure du volume de matériau excavé à partir du profil de coupe d'une roue excavatrice ou similaire Expired - Lifetime EP0412398B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3926223 1989-08-08
DE3926223 1989-08-08

Publications (2)

Publication Number Publication Date
EP0412398A1 EP0412398A1 (fr) 1991-02-13
EP0412398B1 true EP0412398B1 (fr) 1994-09-21

Family

ID=6386750

Family Applications (1)

Application Number Title Priority Date Filing Date
EP90114611A Expired - Lifetime EP0412398B1 (fr) 1989-08-08 1990-07-30 Mesure du volume de matériau excavé à partir du profil de coupe d'une roue excavatrice ou similaire

Country Status (4)

Country Link
EP (1) EP0412398B1 (fr)
AT (1) ATE111995T1 (fr)
AU (2) AU637125B2 (fr)
DE (1) DE59007214D1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8768579B2 (en) 2011-04-14 2014-07-01 Harnischfeger Technologies, Inc. Swing automation for rope shovel
US9206587B2 (en) 2012-03-16 2015-12-08 Harnischfeger Technologies, Inc. Automated control of dipper swing for a shovel

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4133392C1 (en) * 1991-10-09 1992-12-24 Rheinbraun Ag, 5000 Koeln, De Determining progress of mining material spreader - receiving signals from at least four satellites at end of tipping arm and at vehicle base and calculating actual geodetic positions and height of material tip
JPH09331222A (ja) * 1996-06-11 1997-12-22 Nec Corp 利得制御信号補正装置
US6085583A (en) * 1999-05-24 2000-07-11 Carnegie Mellon University System and method for estimating volume of material swept into the bucket of a digging machine
NL1022678C2 (nl) † 2003-02-14 2004-08-17 Trioliet Mullos Werkwijze en inrichting voor het uithalen van een hoeveelheid voer uit een voedervoorraad.
AU2005227398B1 (en) * 2005-10-28 2006-04-27 Leica Geosystems Ag Method and apparatus for determining the loading of a bucket
USRE46672E1 (en) 2006-07-13 2018-01-16 Velodyne Lidar, Inc. High definition LiDAR system
CN101778998B (zh) * 2008-08-09 2012-11-21 艾柯夫山体构造技术有限公司 用于监控切割式采矿机的方法和装置
US10627490B2 (en) 2016-01-31 2020-04-21 Velodyne Lidar, Inc. Multiple pulse, LIDAR based 3-D imaging
WO2017152916A1 (fr) * 2016-03-09 2017-09-14 Leica Geosystems Technology A/S Équipement de mesure pour déterminer le résultat d'un travail de terrassement
JP7149256B2 (ja) 2016-03-19 2022-10-06 ベロダイン ライダー ユーエスエー，インコーポレイテッド Ｌｉｄａｒに基づく３次元撮像のための統合された照射及び検出
CA3024510C (fr) 2016-06-01 2022-10-04 Velodyne Lidar, Inc. Lidar a balayage a pixels multiples
EP3593166B1 (fr) 2017-03-31 2024-04-17 Velodyne Lidar USA, Inc. Commande de puissance d'éclairage à lidar intégré
JP2020519881A (ja) 2017-05-08 2020-07-02 ベロダイン ライダー， インク． Ｌｉｄａｒデータ収集及び制御
US10689830B2 (en) * 2018-08-06 2020-06-23 Deere & Company Container angle sensing using vision sensor for feedback loop control
US11082010B2 (en) 2018-11-06 2021-08-03 Velodyne Lidar Usa, Inc. Systems and methods for TIA base current detection and compensation
US11885958B2 (en) 2019-01-07 2024-01-30 Velodyne Lidar Usa, Inc. Systems and methods for a dual axis resonant scanning mirror
US11556000B1 (en) 2019-08-22 2023-01-17 Red Creamery Llc Distally-actuated scanning mirror

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1436740A (en) * 1973-09-11 1976-05-26 Secr Defence Semi-automated surveying apparatus
US4408195A (en) * 1981-08-17 1983-10-04 Fmc Corporation Boundary plane warning system
IT1184935B (it) * 1984-03-29 1987-10-28 Mitsubishi Electric Corp Sistema per rilevare coordinate tridimensionali con l impiego di un elaboratore
US4835537A (en) * 1986-07-16 1989-05-30 Manion James H Telemetry burst collision avoidance system
WO1989011630A1 (fr) * 1988-05-26 1989-11-30 Wild Leitz Ag Procede et dispositif pour mesurer des surfaces

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8768579B2 (en) 2011-04-14 2014-07-01 Harnischfeger Technologies, Inc. Swing automation for rope shovel
US9315967B2 (en) 2011-04-14 2016-04-19 Harnischfeger Technologies, Inc. Swing automation for rope shovel
US9567725B2 (en) 2011-04-14 2017-02-14 Harnischfeger Technologies, Inc. Swing automation for rope shovel
US12018463B2 (en) 2011-04-14 2024-06-25 Joy Global Surface Mining Inc Swing automation for rope shovel
US9206587B2 (en) 2012-03-16 2015-12-08 Harnischfeger Technologies, Inc. Automated control of dipper swing for a shovel

Also Published As

Publication number Publication date
EP0412398A1 (fr) 1991-02-13
AU634801B2 (en) 1993-03-04
AU6027690A (en) 1991-02-14
AU6028190A (en) 1991-02-14
ATE111995T1 (de) 1994-10-15
DE59007214D1 (de) 1994-10-27
AU637125B2 (en) 1993-05-20

Similar Documents

Publication Publication Date Title
EP0412398B1 (fr) Mesure du volume de matériau excavé à partir du profil de coupe d'une roue excavatrice ou similaire
EP0412399B1 (fr) Commande du volume excavé par une roue à godet
EP0412400B1 (fr) Dispositif de sécurité pour empêcher la collision d'engins de terrassement
EP0412395B1 (fr) Conduite d'une roue excavatrice pour la réalisation de surfaces de forme prédéterminée
DE4340756C5 (de) Laserabstandsermittlungsvorrichtung
DE68914553T2 (de) Lasermesssystem.
DE2826468C2 (fr)
DE19757848C2 (de) Vorrichtung zur optischen Erfassung von Objekten
EP0520247B1 (fr) Dispositif de surveillance comportant un émetteur, un récepteur et un circuit d'analyse de signal
DE69914533T2 (de) Rotierendes Laserbeleuchtungssystem
EP3479062B1 (fr) Procédé de comparaison d'un faisceau de réception se produisant sur un récepteur laser a l'aide d'un faisceau laser rotatif
DE19855478B4 (de) Verfahren und Vorrichtung zur optischen Erfassung einer Kontrastlinie
DE102016224076A1 (de) Verfahren und Vorrichtung zum Bestimmen einer Position eines Baggerarms mittels eines an einem Bagger angeordneten LIDAR-Systems
EP1239300A2 (fr) Dispositif pour déterminer un profile de distance
DE10139237A1 (de) Vorrichtung zur Entfernungsmessung
DE102005012107A1 (de) Meßsystem und Verfahren zur geodätischen Vermessung von Objekten
DE10306257B4 (de) Neigungswinkelmesseinrichtung
EP1286178A2 (fr) Procédé de détection optique du sol
EP3479063B1 (fr) Procede de comparaison d'un faisceau de reception se produisant sur un recepteur laser a l'aide d'un faisceau laser rotatif
EP1224644B1 (fr) Dispositif pour reguler le flux de circulation a un carrefour, notamment pour reguler les feux
EP1653202A1 (fr) Procédé et dispositif pour mesurer un flux volumique sur un transporteur a courroie
DE19953006B4 (de) Vorrichtung zur Steuerung des Verkehrsflusses im Bereich einer Kreuzung, insbesondere zur Ampelsteuerung
EP2105761B1 (fr) Procédé d'alignement parallèle d'un scanner laser sur une voie
DE19709906C2 (de) Optoelektronische Vorrichtung
EP3521860A1 (fr) Dispositif capteur optoélectronique

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE CH DE ES FR GB GR IT LI LU NL SE

17P Request for examination filed

Effective date: 19901220

17Q First examination report despatched

Effective date: 19920311

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE CH DE ES FR GB GR IT LI LU NL SE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT;WARNING: LAPSES OF ITALIAN PATENTS WITH EFFECTIVE DATE BEFORE 2007 MAY HAVE OCCURRED AT ANY TIME BEFORE 2007. THE CORRECT EFFECTIVE DATE MAY BE DIFFERENT FROM THE ONE RECORDED.

Effective date: 19940921

Ref country code: ES

Free format text: THE PATENT HAS BEEN ANNULLED BY A DECISION OF A NATIONAL AUTHORITY

Effective date: 19940921

Ref country code: BE

Effective date: 19940921

Ref country code: NL

Effective date: 19940921

Ref country code: GB

Effective date: 19940921

Ref country code: FR

Effective date: 19940921

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 19940921

REF Corresponds to:

Ref document number: 111995

Country of ref document: AT

Date of ref document: 19941015

Kind code of ref document: T

REF Corresponds to:

Ref document number: 59007214

Country of ref document: DE

Date of ref document: 19941027

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Effective date: 19941221

EN Fr: translation not filed
NLV1 Nl: lapsed or annulled due to failure to fulfill the requirements of art. 29p and 29m of the patents act
GBV Gb: ep patent (uk) treated as always having been void in accordance with gb section 77(7)/1977 [no translation filed]

Effective date: 19940921

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Effective date: 19950730

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Effective date: 19950731

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 19950731

Ref country code: LI

Effective date: 19950731

26N No opposition filed
REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20040920

Year of fee payment: 15

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20060201