EP0907805B1 - Verfahren und anordnung zur überwachung des arbeitsbereiches beim bewegen eines fortbewegbaren arbeitsgerätes - Google Patents
Verfahren und anordnung zur überwachung des arbeitsbereiches beim bewegen eines fortbewegbaren arbeitsgerätes Download PDFInfo
- Publication number
- EP0907805B1 EP0907805B1 EP97921629A EP97921629A EP0907805B1 EP 0907805 B1 EP0907805 B1 EP 0907805B1 EP 97921629 A EP97921629 A EP 97921629A EP 97921629 A EP97921629 A EP 97921629A EP 0907805 B1 EP0907805 B1 EP 0907805B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- machine
- azu
- work zone
- monitoring
- permissible
- 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
Links
Images
Classifications
-
- 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
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
Definitions
- US-A-5,490,081 discloses a method for monitoring an area of application of an implement is known. At This method is a speed of the implement automatically controlled at the boundaries of the work area.
- Such a monitoring process is difficult because today, for example, with excavators, the individual Axles and the drive of the excavator are typically manually controlled by a Device operator controlled. Here it is particularly in narrow work areas, such as B. when excavating a construction pit between two houses, etc. easily possible that the excavator collides with an obstacle when turning or driving. On Another problem is that an attachment of such Device, such as a shovel or other movable boom, in contact with an obstacle causing a collision.
- the object underlying the invention is therefore in stating another arrangement and method, with which the monitoring of the work area of a moving work equipment is possible.
- the movements on the implement are also particularly advantageous attached attachments monitored to determine whether a boom or another movable part, which attached to the implement threatens the work area to leave. It can preferably be provided for this case be the movements of the boom automatically to the predetermined Limit work area.
- the data which is used for Evaluation of the position and location of the device and its Attachments required are preferred by on the device Angle sensors or similar provided for control measures Sensors submitted and evaluated.
- collisions with obstacles can be avoided by defining the work area so that it does not contain obstacles, or that it definitely contains them circumscribes.
- a reference position is preferred at the start of a work process ingested and changes in movement of the implement and any existing attachments, for example by emitting signals from rotary encoders, registered so that an exact statement can be made at any time can be in what position the implement and any attachments provided. In simple This way it can be ensured that no part of the device leaves the work area. Designed to be particularly simple this monitoring, if the kinematics of the device or existing attachments are taken into account, as the kinematics only certain movements are allowed and therefore not all theoretically conceivable movements must be examined, but only those which are due to the kinematics of the device and its attachments are possible.
- the work area is particularly advantageous and allowable work volume in the form of a teach-in procedure given, for example, an operator once the entire work volume runs off and attachments, for example according to the defined and permitted work volume moved so that the entire resulting from it Control processes in a control unit of the implement can be saved in order to use it for later work To be able to make comparisons.
- the data on the permissible can be particularly advantageous Work area but also in the form of CAD design data be won, since often when building buildings or tunnels anyway the exact geometry of the work area or the Surroundings of the building must be recorded and therefore an exact Description is available, which means that a teach-in process can be saved.
- An arrangement for implementation is particularly advantageous of the method according to the invention means for determining the global position ahead and simple means of capturing Movements of the implement and occasionally existing attachments.
- these motion sensors are in shape of rotary encoders and on a jacking axis of the device provided odometer.
- These data are preferred by a Evaluation unit related to each other and it is determined whether a predefined work area by the implement or existing attachments are observed. This condition can be particularly advantageous in the event of violations an alarm is triggered if the working area is observed, or the control unit can monitor the movements of the device affect, which means that the unit will be stopped can, or that the movements are adjusted so that the outermost Point of the device of the contour of the working volume follows.
- an implement AG is shown in the form of an excavator. If there is talk of excavators in the following, it should this does not mean that the invention is only on excavators is limited. Also related to the invention other land moving devices conceivable, or can the Use of agricultural equipment to be monitored. in the For example, it is related to agricultural machinery conceivable that when editing a field it is monitored whether its limits are strictly observed.
- the excavator AG shown in FIG. 1 has antennas, for example A1 and A2 on what data from a global positioning system can be received.
- the unit for example, is accurate to a few cm determined in which position the construction of the excavator located.
- Axes 10 to 50 can be controlled separately. On this Suitable axes are provided, which it the Controls allow the exact position of the respective add-on parts AT to determine.
- the Bagger AG an earth excavation can be carried out on a soil BO.
- the described Axes 10 to 50 allow any degree of freedom.
- Variable parameters of the device should preferably be used be monitored for all degrees of freedom of the excavator, so it is known at all times in what position the excavator is and which contour the intended, for example Attachment AT takes. About AT attachments it can be said that these are not generally movable as they are have kinematics given by their geometry. This Kinematics here is due to the degrees of freedom, for example the axes 10 to 30 indicated. If by a tax calculator or should be checked by other means whether the implement AG or an attachment a predefined Leaves work area so can by using the control the kinematics and using angle encoders or other measuring devices, which are provided on the corresponding axes, can be determined very easily which final geometry of the attachment is taken.
- Figure 2 shows the implement AG of Figure 1 in connection with a permissible working area AZU, being essential Parts of the implement with volume elements V10 to V70 are circumscribed.
- the use of solid elements in the Monitoring the work area AZU allows the computing effort for the calculations to be carried out, since not the real dimensions, but approximate Dimensions have to be considered. In particular then only cuboids and simple volume blocks can be expected.
- the permissible work area AZU shown here is here represented simply as a cuboid or as a surface. There are but also any three-dimensional structures conceivable and definable.
- an allowable work area can be entered in the form of a teach-in process, in which an operator with the work tool AG and existing ones Add-on parts the entire work area in one step, which should be allowed afterwards leaves while moving existing attachments so that they the desired Do not violate the boundary of the work area. From one Control of the device can perform the specified movements can be saved and used later during work these control positions can be updated with the device entered control positions of the operator compared become.
- the current position of the implement AG a role that over the global positioning system is obtained and preferably in connection with everyone currently performed movement is stored.
- the control unit If one Violation of the permissible work area occurs the control unit emits an alarm signal or cause that the device at all times with its boom AT in the permissible Working area AZU remains by controlling automatically Control commands of the operator modified.
- the allowable work area AZU can also be specified inversely, for example, by only avoiding obstacles should be marked explicitly.
- the permissible Work area AZU can also be entered in the form that Data from an existing CAD model of the work area available. Design data are conceivable here, for example, which is an architect when measuring the terrain and in the construction of a building or excavation has already entered, which then only the Control of the device communicated or supplied electronically Need to become.
- the method according to the invention is preferably carried out cyclically.
- a first step for example Position and location determination of the device by means of GPS receivers.
- Today's high-performance systems, such as the DGPS allow accuracy in position determination of about 2 cm [Source: Trimble: 7400Msi: High precision GPS receiver for dynamic control systems].
- Prefers can be done by attaching two antennas as shown in Figure 1 represented by A1 and A2, by comparing their positions the orientation of the implement can also be determined. Due to the positional inaccuracy of 2 cm Large excavators angular errors of about 0.4 °, this inaccuracy can, however, warn or limit possible collisions be taken into account. With large excavators, for example a range of 15 m can result in maximum inaccuracy Extend up to 12 cm at the tip of the ice bucket.
- the Knowledge of the own position and the orientation of the implement, as well as the joint angle and the dimensions of each Elements such as the volume elements V10 up to V50 and based on the kinematics of the implement, as well its attachments the exact spatial position of the implement be determined.
- a collision test can then preferably be carried out in a further step each one of these excavator room elements with the given one Work area. This is preferred check every time whether there is an excavator space element critically close to the work area or work volume limit approximated. But preferably also only a far point FP1 can be determined, which is for example in a suitable manner from the kinematics of the attachment and derives the implement AG. For example this is a point that is furthest away from the working device AG. Such points are shown in FIG described with FP1 and FP2. If such points are determined This ensures that there are other points on the device by no means closer to the border of the work area can be located as this.
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Component Parts Of Construction Machinery (AREA)
- Operation Control Of Excavators (AREA)
Description
- Figur 1
- zeigt ein Beispiel eines Arbeitsgerätes in Form eines Baggers
- Figur 2
- zeigt ein Beispiel eines Arbeitsgerätes in einem Arbeitsraum.
Claims (10)
- Verfahren zur Überwachung des Arbeitsbereiches beim Bewegen eines Arbeitsgerätes,a) bei dem ein zulässiger Arbeitsbereich (AZU) des Arbeitsgerätes (AG) vorgegeben wird,b) bei dem die aktuelle Position des Arbeitsgerätes (AG) anhand von Daten aus einem globalen Positionierungs System (A1, A2) bestimmt wird, dadurch gekennzeichnet, daß der Arbeitsbereich (AZU) überwacht wird, indem anhand der Abmessungen des Arbeitsgerätes (V10-V70) in Verbindung mit der aktuellen Position des Arbeitsgerätes (AG) überprüft wird, ob sich das Arbeitsgerät (AG) im Arbeitsbereich (AZU) aufhält.
- Verfahren nach Anspruch 1, bei dem der Arbeitsbereich (AZU) des Arbeitsgerätes (AG) begrenzt wird, indem ein Signal ausgelöst wird, bevor das Arbeitsgerät (AG) den zulässigen Arbeitsbereich (AZU) verläßt und über dieses Signal die Begrenzung veranlaßt wird.
- Verfahren nach einem der vorangehenden Ansprüche, bei dem der Arbeitsbereich (AZU) des Arbeitsgerätes (AG) in Form eines dreidimensionalen Arbeitsraumes (AZU) vorgegeben wird und mindestens ein am Arbeitsgerät (AG) angebrachtes bewegbares Anbauteil (AT) in Verbindung mit dem Arbeitsgerät (AG) überwacht wird, indem aus der Kinematik des bewegbaren Teiles sowie seinen Abmessungen und dem Ort seiner Anbringung am Arbeitsgerät (AG) mindestens ein Ort maximaler Entfernung zum Arbeitsgerät (AG), der sich am bewegbaren Teil befindet, als Fernpunkt (FP1, FP2) ermittelt wird und dieser Fernpunkt FP1, FP2) überwacht wird.
- Verfahren nach einem der vorangehenden Ansprüche, bei dem eine Kollision des Arbeitsgerätes (AG) mit einem Hindernis ausgeschlossen wird, indem der Arbeitsbereich (AZU) so vorgegeben wird, daß er das Hindernis nicht enthält.
- Verfahren nach einem der vorangehenden Ansprüche, bei dem ausgehend von einer Ausgangslage des Arbeitsgerätes (AG) im Arbeitsbereich (AZU) alle Bewegungen des Arbeitsgerätes (AG) und fallweise vorhandener Anbauteile (AT)ein den jeweiligen Bewegungsfreiheitsgraden (10-50) überwacht werden und Lageveränderungen vermerkt werden, so daß für die Überwachung jederzeit Position und Lage im Arbeitsbereich (AZU) bekannt sind.
- Verfahren nach einem der vorangehenden Ansprüche, bei dem die Abmessungen von mindestens ein Teil des Arbeitsgerätes (AG), zur Erleichterung des Rechenvorganges bei einer automatischen Überwachung, durch die Abmessungen eines dieses Teil umschließenden Volumenelementes (V10-V70) angenähert werden.
- Verfahren nach einem der vorangehenden Ansprüche, bei dem der zulässige Arbeitsbereich (AZU) durch ein Lernverfahren in Form eines teach-in Verfahrens vorgegeben wird, indem ein Bediener manuell durch Abfahren des zulässigen Arbeitsbereiches (AZU) und eventuelles Bewegen von bewegbaren Anbauteilen (AT) dessen Abmessungen vorgibt und diese gespeichert werden.
- Verfahren nach einem der Ansprüche 1 bis 6, bei dem der zulässige Arbeitsbereich (AZU) in Form von Daten aus einem CAD-Konstruktionssystem vorgegeben wird.
- Anordnung zur Durchführung des Verfahrens nach einem der vorangehenden Ansprüche,a) bei der erste Mittel zur Bestimmung einer globalen Position vorgesehen sind (A1, A2),b) bei der zweite Mittel zur Erfassung von Bewegungen des Arbeitsgerätes (AG) und fallweise vorhandener Anbauteile (AT) vorgesehen sind,
dritte Mittel zum Auswerten vorgesehen sind, welche anhand der Daten, welche von den ersten und von den zweiten Mitteln abgegeben werden und gespeicherter Information über den zulässigen Arbeitsbereich (AZU), die Überwachung vornehmen. - Anordnung nach Anspruch 9, bei der die dritten Mittel mit Mitteln zum Steuern des Arbeitsgerätes (AG) verbunden sind und falls die Überwachung ergibt daß der Arbeitsbereich (AZU) droht verlassen zu werden, die Bewegung des Arbeitsgerätes (AG) verändert wird.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19622261 | 1996-06-03 | ||
DE19622261 | 1996-06-03 | ||
PCT/DE1997/000847 WO1997046767A1 (de) | 1996-06-03 | 1997-04-24 | Verfahren und anordnung zur überwachung des arbeitsbereiches beim bewegen eines fortbewegbaren arbeitsgerätes |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0907805A1 EP0907805A1 (de) | 1999-04-14 |
EP0907805B1 true EP0907805B1 (de) | 2001-01-31 |
Family
ID=7796024
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP97921629A Expired - Lifetime EP0907805B1 (de) | 1996-06-03 | 1997-04-24 | Verfahren und anordnung zur überwachung des arbeitsbereiches beim bewegen eines fortbewegbaren arbeitsgerätes |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP0907805B1 (de) |
DE (1) | DE59702977D1 (de) |
WO (1) | WO1997046767A1 (de) |
Cited By (2)
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 (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102022206976A1 (de) | 2022-07-08 | 2024-01-11 | Zf Friedrichshafen Ag | Verfahren zum Vermessen eines Arbeitsziels mittels eines Anbaugeräts |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07107648B2 (ja) * | 1987-09-09 | 1995-11-15 | インターナシヨナル・ビジネス・マシーンズ・コーポレーシヨン | 物体間衝突検出装置 |
US4922430A (en) * | 1987-10-30 | 1990-05-01 | U.S. Philips Corporation | Method and apparatus for controlling the movement of a guided object |
DE4115165A1 (de) * | 1991-05-10 | 1992-11-12 | Pietzsch Automatisierungstech | Verfahren zum begrenzen des arbeitsbereichs bei einem arbeitsmittel mit einem verfahrbaren ausleger |
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 |
JP3215502B2 (ja) * | 1992-05-19 | 2001-10-09 | 株式会社小松製作所 | 作業機動作範囲制限装置 |
DE4331776C2 (de) * | 1993-09-18 | 1997-11-06 | Schaeff Karl Gmbh & Co | Lademaschine mit einer Grenzbereichsteuerung für ein neigungs- und längenveränderliches Auslegersystem |
JP2866289B2 (ja) * | 1993-12-01 | 1999-03-08 | 株式会社熊谷組 | 建設機械の位置及び姿勢表示方法 |
JP2819384B2 (ja) * | 1994-03-17 | 1998-10-30 | 五洋建設株式会社 | 浚渫船の浚渫位置出し方法 |
JPH08133678A (ja) * | 1994-11-07 | 1996-05-28 | Shimizu Corp | クレーンの作業領域外飛出し警報方法およびその警報システム |
-
1997
- 1997-04-24 DE DE59702977T patent/DE59702977D1/de not_active Expired - Fee Related
- 1997-04-24 EP EP97921629A patent/EP0907805B1/de not_active Expired - Lifetime
- 1997-04-24 WO PCT/DE1997/000847 patent/WO1997046767A1/de active IP Right Grant
Cited By (8)
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 |
US10227754B2 (en) | 2011-04-14 | 2019-03-12 | Joy Global Surface Mining Inc | Swing automation for rope shovel |
US11028560B2 (en) | 2011-04-14 | 2021-06-08 | 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 |
US9745721B2 (en) | 2012-03-16 | 2017-08-29 | Harnischfeger Technologies, Inc. | Automated control of dipper swing for a shovel |
US10655301B2 (en) | 2012-03-16 | 2020-05-19 | Joy Global Surface Mining Inc | Automated control of dipper swing for a shovel |
Also Published As
Publication number | Publication date |
---|---|
EP0907805A1 (de) | 1999-04-14 |
DE59702977D1 (de) | 2001-03-08 |
WO1997046767A1 (de) | 1997-12-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2019238330A1 (de) | Verfahren und einrichtung zum betrieb von autonom betriebenen arbeitsmaschinen | |
DE112013000165B4 (de) | Steuersystem für eine Baumaschine und Steuerverfahren | |
DE112015000055B4 (de) | Steuersystem einer Arbeitsmaschine und Arbeitsmaschine | |
DE112016000015B4 (de) | Steuersystem für Arbeitsfahrzeug, Steuerverfahren und Arbeitsfahrzeug | |
DE102013105297B4 (de) | Verfahren und System zum Steuern eines Baggers | |
EP3162964B1 (de) | Vorrichtung und verfahren zur bereitstellung einer fahrzeugumgebungsansicht für ein fahrzeug | |
DE102017109939A1 (de) | Identifikation des Betriebs einer Arbeitsmaschine | |
DE19814630A1 (de) | Verfahren und Vorrichtung zum handgesteuerten Führen eines Werkzeuges in einem vorgegebenen Bewegungsbereich | |
DE102019211801A1 (de) | System und verfahren zur bodenbewirtschaftung für ein arbeitsgerät | |
DE102009016366A1 (de) | Kran sowie Verfahren und System zum Betreiben eines Krans mit Hilfe von GPS | |
DE102019202577A1 (de) | Umwandlung mobiler maschinen in hochpräzise roboter | |
DE102009037880A1 (de) | Mobile Arbeitsmaschine mit einer Regelvorrichtung mit einem Arbeitsarm und Verfahren zur Arbeitspunktregelung eines Arbeitsarms einer mobilen Arbeitsmaschine | |
EP2990532B1 (de) | Selbstfahrende baumaschine und verfahren zur visualisierung des bearbeitungsumfeldes einer sich im gelände bewegenden baumaschine | |
DE102021203189A1 (de) | Magnetorheologische fluidjoysticksysteme, die fehlpositionierungen von arbeitsfahrzeugen reduzieren | |
DE102021202030A1 (de) | Verwendung generierter linien zur fahrzeugsteuerung und objektvermeidung | |
EP3381254B1 (de) | Verfahren zum aussähen von waldsamen mit einer bewegbaren saatmaschine | |
DE112011104025T5 (de) | Hubarm-und Werkzeugsteuersystem | |
DE102017219540A1 (de) | Vorrichtung und Verfahren zur Steuerung einer Arbeitsmaschine | |
DE102019206515A1 (de) | Selbstschutzsystem für eine arbeitsmaschine | |
EP0907805B1 (de) | Verfahren und anordnung zur überwachung des arbeitsbereiches beim bewegen eines fortbewegbaren arbeitsgerätes | |
DE102021201728A1 (de) | System und verfahren zur übermittlung des vorhandenseins von nahegelegenen objekten in einem arbeitsbereich | |
EP3521860B1 (de) | Optoelektronische sensorvorrichtung | |
EP0912806B1 (de) | Verfahren und anordnung zur steuerung eines bewegungsablaufs bei einer fortbewegbaren landbearbeitungsmaschine | |
EP3395136A1 (de) | Verfahren zum einstellen der arbeitstiefe eines landwirtschaftlichen bodenbearbeitungsgeräts | |
WO2020229281A1 (de) | Verfahren zur analyse der verwendung einer arbeitsmaschine |
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 |
|
17P | Request for examination filed |
Effective date: 19981123 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): DE FR GB |
|
17Q | First examination report despatched |
Effective date: 19990423 |
|
GRAG | Despatch of communication of intention to grant |
Free format text: ORIGINAL CODE: EPIDOS AGRA |
|
GRAG | Despatch of communication of intention to grant |
Free format text: ORIGINAL CODE: EPIDOS AGRA |
|
GRAH | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOS IGRA |
|
GRAH | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOS IGRA |
|
GRAA | (expected) grant |
Free format text: ORIGINAL CODE: 0009210 |
|
AK | Designated contracting states |
Kind code of ref document: B1 Designated state(s): DE FR GB |
|
REF | Corresponds to: |
Ref document number: 59702977 Country of ref document: DE Date of ref document: 20010308 |
|
ET | Fr: translation filed | ||
GBT | Gb: translation of ep patent filed (gb section 77(6)(a)/1977) |
Effective date: 20010403 |
|
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 |
|
REG | Reference to a national code |
Ref country code: GB Ref legal event code: IF02 |
|
26N | No opposition filed | ||
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: DE Payment date: 20070621 Year of fee payment: 11 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: GB Payment date: 20080417 Year of fee payment: 12 |
|
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: 20081101 |
|
GBPC | Gb: european patent ceased through non-payment of renewal fee |
Effective date: 20090424 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: ST Effective date: 20091231 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: GB Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20090424 Ref country code: FR Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20091222 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: FR Payment date: 20080422 Year of fee payment: 12 |