Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H54/00—Winding, coiling, or depositing filamentary material
  • B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
  • B65H54/28—Traversing devices; Package-shaping arrangements
  • B65H54/2848—Arrangements for aligned winding
  • B65H54/2854—Detection or control of aligned winding or reversal
  • B65H54/2869—Control of the rotating speed of the reel or the traversing speed for aligned winding
  • B65H54/2878—Control of the rotating speed of the reel or the traversing speed for aligned winding by detection of incorrect conditions on the wound surface, e.g. material climbing on the next layer, a gap between windings
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H54/00—Winding, coiling, or depositing filamentary material
  • B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
  • B65H54/28—Traversing devices; Package-shaping arrangements
  • B65H54/2848—Arrangements for aligned winding
  • B65H54/2854—Detection or control of aligned winding or reversal
  • B65H54/2869—Control of the rotating speed of the reel or the traversing speed for aligned winding
  • B65H54/2875—Control of the rotating speed of the reel or the traversing speed for aligned winding by detecting or following the already wound material, e.g. contour following
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
  • B65H2553/00—Sensing or detecting means
  • B65H2553/40—Sensing or detecting means using optical, e.g. photographic, elements
  • B65H2553/42—Cameras

Definitions

• the invention relates to a method for winding strand-like winding material on a spool, the winding material being fed continuously, and wherein the position of the winding material is observed and recorded by at least one television camera and the data thus obtained are fed via the winding to a computing unit which a appropriate adjustment of the supply of the winding material is initiated.
• a method of this type is known from EP-Bl 0 043 366.
• a video camera used as the first measuring device for monitoring detects the winding position, which may be illuminated by a headlight.
• the position of the winding flank of the last winding wound is determined by means of the video camera, specifically at a point which is distant from the winding point of the winding material by a certain angle of rotation of the coil.
• a second measuring device for detecting the respective traversing position of the coil and a sensor for the winding strand are provided. From the measurement data of both measuring devices, those relative positions are calculated which the coil and the guide device for the strand must have reached after the rotation of the coil by the aforementioned coil rotation angle in order to maintain the run-up angle.
• Control device is used to maintain a constant run-up angle for laying the windings within each winding position.
• the invention has for its object to ensure the fastest possible and efficient correction of deviations in a simple manner.
• This task is with a The method of the type mentioned at the outset is achieved in that the position of the vertices of these windings is determined for at least two turns of the new winding position in relation to the coil axis in the radial direction, and that if these vertices deviate from a desired value, the deviation reduces the adjustment the supply of the winding material is carried out.
• the vertex provides much more precise and meaningful information than the flank flank used in the prior art.
• a particularly advantageous development of the invention consists in that, due to a deviation of the size of the peak value of the last turn from the size of the peak value of a previous turn as the last turn rises, the feed is adjusted in the sense of an increase in the lateral distance from the penultimate one Winding is carried out.
• a further particularly advantageous development of the invention is characterized in that, seen in the direction parallel to the coil axis, in the region of the point of impact of the winding material, the distance between the apexes of these windings is determined for at least two turns of the new winding position, and that due to a gap between when the gap occurs the penultimate and the last turn resulting in an increase in the distance between the adjacent peak values, an adjustment of the feed is carried out in the sense of a reduction in the lateral distance of the last turn compared to the penultimate turn.
• the invention further relates to a device for winding strand-shaped winding material on a spool in which the winding material is fed via a guide device which changes the winding position of the winding material on the spool so that the most uniform possible winding takes place using a television camera for observing the winding position , which supplies the data determined by it about the position of the winding to a computing unit which causes a corresponding readjustment of the guide device,
• this device being characterized in that a light source is provided which generates a light band at least on parts of the last winding position and that the television camera used for observation is arranged in such a way that it determines the state of the illuminated winding layer approximately in the area of the point of impact where the winding material meets the winding layer underneath.
• the invention provides the possibility that by appropriate lighting, in particular in the form of a strip of light, the turns and - when the turns approach the flange - the drum flange can be detected and thus the instantaneous distance of the current turn from the flange can actually be determined .
• Figure 1 shows a schematic representation of a device for
• FIG. 2 shows a part of the device according to FIG. 1 in a perspective view
• Figure 3 shows the brightness distribution with a
• FIG. 5 shows a recorded camera image - evaluation window with a specific distribution of the cable layers
• FIG. 6 shows the intensity profile belonging to FIG. 5
• FIG. 7 shows the filtered contour profile obtained therefrom
• FIG. 8 shows the contour profile according to FIG
• FIG. 9 a height histogram obtained from FIG. 8, FIG. 10 the course of maximum pixel values depending on the position of the turns, FIG. 11 the contour course for different turns, FIG. 12 a height histogram for different ones
• FIG. 14 a contour profile when approaching the flange
• FIG. 15 a transformed contour profile derived from
• FIG. 14 shows a position histogram which is obtained from FIG. 15, FIG. 17 shows a contour course with a further approach to the
• Figure 18 is a Positionshistogram which the elements is derived from Figure 17 and F igur 19 in a schematic representation of a
• Figure 20 in plan view of a cable running onto the
• a coil or drum SP is shown in cross section to a winding axis AX, the inner cylinder of which is designated IZ.
• a winding WM is wound onto this spool SP in one or preferably several layers, it being desirable that this winding material is applied as densely and evenly as possible, that is to say that there are no gaps between adjacent layers, nor that the winding material rises, ie to one unfinished situation is wound up.
• the material to be wound can have a thread, strand, tube or other configuration and preferably has a circular cross section. In the following it is assumed that an (electrical or optical) cable is applied as the winding material WM.
• the spool often made of wood (eg cable drum) SP, generally has two side flanges, of which only the rear one, namely FL1, is visible in the present example.
• a light source LS which directs an advantageously divergent light band LB onto the cable WM.
• the light band LB should be chosen to be wider than the diameter or the width of the winding material WM and should be at least twice the width of the winding material, but advantageously be at least four times this width.
• a laser is preferably used as the light source LS, because in this way the light can be focused very sharply and precisely.
• the width of the light band is then selected to be somewhat larger than the coil width. In this case, it is not necessary to continuously move the light band LB along the axis AX with the point of impact AP of the winding material WM.
• a fixed arrangement of the light source LS is then sufficient, which always illuminates the entire width, including the flanges of the coil SP, with its wide beam. If a fixed light source LS is used, it will be conveniently positioned approximately in the middle of the coil SP, i.e. that the distance to the left and right flange of the coil is chosen approximately the same size.
• the light source LS must be continuously updated, expediently in that this light source LS is mechanically connected to the
• Guide device FE is coupled, as is indicated, for example, by the bar HS drawn in broken lines. In this way, automatic tracking and the safe alignment of the light source LS to the area of the point of impact AP is ensured without great effort. This movement process takes place essentially parallel to the drum axis AX running perpendicular to the plane of the drawing, so that the distance between the light source LS and the point of incidence AP is kept essentially constant.
• the guide device FE the light source LS coupled to it and the video camera, are usually designed to be stationary when the traversing movement of the drum is generated by the winding device itself. Then only the described disturbances in the winding course are eliminated by corresponding rapid correction movements of the guide device.
• Light source LS something. If the light source LS is sufficiently far from the point of impact AP, preferably at least between 1 m and 2 m, this is generally irrelevant. As the diameter of the cable wrap increases, i.e. Due to the increasing number of layers during winding, the light source LS can be shifted outwards or continuously in steps opposite to the beam direction of the light bundle LB in accordance with the increase in the number of layers so that the width of the light spot or light band and its position in the camera field of view in are kept essentially constant.
• the light source LS should in any case be arranged outside the outermost edge of the respective flanges (e.g. FL1) in order to enable flange detection.
• the two light sources can also be designed such that their light bands are of the same length and are projected congruently onto an area around the point of impact AP of the cable. This arrangement is particularly advantageously used when using a fixed guide device. When switching the video cameras, depending on the direction of the traversing drum, the point of impact AP of the cable remains at the same image position.
• the light source and the video camera are expediently inclined in pairs, preferably at an angle of 5 ° deviating from the orthogonal to the flange surface. This can prevent the light strip on the flange from being sealed off.
• the left side of the flange is illuminated with the right light source and the right side of the flange with the left light source.
• Three and more light sources are also conceivable, especially if the coils are very wide. These multiple light sources are expediently firmly positioned.
• a spatial coordinate system is shown at the run-on point AP, the z-direction corresponding to the tangent to the underlying layer WL1, that is to say running in the circumferential direction.
• the y-direction points outwards in relation to the axis of rotation AX in the radial direction, while the x-direction extends parallel to the axis of rotation AX.
• the width of the light band LB in the z direction should be kept as small as possible in order to ensure optimal optical imaging. Light band widths in the z direction are preferred, ie when the light band LB hits the upper contour of the Wrapped WM in the range between 0.5 mm and 5 mm, in particular between 1 mm and 3 mm.
• the angle between the beam axis of the light band LB and the radial direction y should preferably not be chosen as large.
• angle values ⁇ between 10 and 60 ° are expedient and values between 30 and 40 °, in particular around 35 °, are particularly advantageous.
• the narrow band of light which extends in the x direction and is very narrow in the z direction, produces luminous arc-shaped light spots on the surface of the winding material WM, which can be scanned with a television camera VC.
• the optics of this television camera VC indicated by a lens LE, are oriented in such a way that they can detect the above-mentioned arc-shaped bright lines, which the light band LB produces on the surface of the winding material WM. Similar considerations apply to the spatial arrangement of the television camera VC as have been indicated above for the light source LS, ie the video camera can be arranged in a fixed manner and in this case must be able to detect the entire width of the winding material from one flange to the other.
• the video camera can also be designed to be stationary with the light source if the drum itself traverses.
• the beam axis of the video camera VC should expediently run in an angle range ⁇ between 0 ° and 60 °, an angle of 0 ° preferably being used due to the better optical conditions. In some cases, values between 30 ° and 40 ° can also be preferred, in particular 35 °. In general, it is expedient if the angles ⁇ and ⁇ are not chosen to be the same size because then the evaluation becomes optically more favorable. It is expedient to choose the sum angle ( ⁇ + ⁇ ) in such a way that values of approximately 10 to 60 °, in particular 35 °, are preferably obtained.
• the light information supplied by the video camera VC is forwarded by the video camera VC to a computing unit CU, in which the evaluation is carried out continuously and from which corresponding control signals are sent to the guidance or laying device FE in order to optimally guide the control circuit To achieve good winding world championships.
• a computing unit CU in which the evaluation is carried out continuously and from which corresponding control signals are sent to the guidance or laying device FE in order to optimally guide the control circuit To achieve good winding world championships.
• FIG. 2 where the conditions in the area of the run-on point AP are shown enlarged in a perspective view.
• arc-shaped height profile lines which are labeled LP23, LP22 and LP21, are formed on the turns WD21 to WD23 of the upper layer WL2.
• the underlying winding layer WL1 with the windings WDll to WD15 also results in two bright height profile lines, of which only the outermost is partially visible due to the perspective representation and is labeled LP15.
• the light band LB results in the region of the flange FL1 an essentially straight line LPF.
• the position and the course of these height profile lines can be evaluated in the computing unit CU according to FIG. 1 and can be used in a simple manner for an exact detection of the winding condition and the generation of a corresponding controlled variable.
• the arcuate height profile lines LP21 to LP23, LP15 and LPF shown in FIG. 2, although shown dark in the drawing, are in reality bright light reflection spots, that is to say zones of high light intensity.
• FIG. 3 shows the associated gray-scale image, specifically for the xy plane of FIG. 1, which is obtained when the cell-shaped scanning of the video camera VC is evaluated.
• the cell-shaped scanning of the video camera itself is expediently carried out in the x direction and, for the example according to FIG. 2, the image signals BD21, the brightest height profile lines LP21, LP22 and LP23 of the top layer WL2 are
• the last turn WD23 would assume the position WD23 * indicated by dash-dotted lines and the associated arc corresponding to the height profile line would take the course BD23 *.
• the associated height value .DELTA.y * would deviate significantly from the value .DELTA.y for the windings WD22 and WD23 and thus give an error indication that an ascent has taken place or is taking place.
• the winding material WD23 * can be brought down again from the position shown in broken lines into the plane of the position of the windings WD21 and WD22, so that the value ⁇ y then corresponds to the predetermined value and there is no longer an impermissible y deviation.
• the size ⁇ F is shown, which indicates the distance of the last turn WD23 from the flange FL1. If this distance ⁇ F is smaller than the diameter or the width of the material to be wound, an ascent can occur in the next turn, but this does not constitute an error, because the flange FL1 is reached anyway.
• the quantities ⁇ y and ⁇ F are continuously determined and correlated with one another, ie it is examined in each case whether there is a permissible or impermissible change within the outer layer. It is based on the peak value of the light strips or height profile lines, because this enables a simple and particularly exact position determination.
• an adjustment signal is generated by the central control device CU, which is advantageous is proportional to the height difference of the vertices and to the cable diameter D in order to counteract the measured deviation as quickly as possible.
• an adjustment signal is advantageously generated by the central control device CU , which is advantageously proportional to the measured deviation from the nominal value and to the diameter D in order to counteract the deviation as quickly as possible.
• a camera image of a video camera directed towards a cable position in accordance with FIGS. 2 and 3 is indicated by a dashed outline and is designated by KB.
• a smaller evaluation window AF which is indicated by dots, is expediently provided to reduce the image evaluation time.
• This evaluation window AF should have at least 2 turns of the outer layer and advantageously at least one, better at least two turns of the inner layer Layer include, ie preferably a total of 4 turns from two different turns layers.
• 3 or 4 turns per layer can also be detected, whereby the effort increases somewhat but the accuracy can also be improved.
• at least two turns of the lower layer should be sensed in the flange area.
• FIG. 5 three image sheets BD21, BD22 and BD23 of three illuminated windings WD21 to WD23 of an outer layer are shown analogously to FIG.
• a further bright image sheet BD15 and part of an image sheet BD14 of the windings WD15 and WD14 of the layer below can be seen.
• the ordinate of the diagram shown corresponds to the radial direction y with respect to the axis AX of the cable drum, while the x-direction runs parallel to the cable drum axis, i. H. in the direction in which the individual turns are strung together.
• a fault ST3 occurs in the area of the winding WD23, e.g.
• the height hO is assumed to be the inner (smaller) radial distance, while the outer region of the partial section captured by the evaluation window AF is designated hM.
• the point at which the fault ST3 occurs is denoted by hS, while the distance value A (peak value) corresponding to the maximum distance of the light reflection of the winding WD23 is denoted by h3.
• the intensity profile i of the pixels in the y direction that is to say as a function of the height h, which is obtained from the sampled values of the video chamber, is shown in FIG. 6 for the position x3 corresponding to the line in the maximum region (apex region) P23 of the winding WD23 .
• a certain distance hS from hO results in intensity values HPS of the disturbance ST3 according to FIG. 5.
• the distribution of the intensity values HP23 occurs at a greater height or distance h3. That is, for the evaluation, a column-wise observation of the intensity values obtained from the x-scan is carried out in the y-direction.
• the lines of the video camera correspond to the y direction according to FIG. 5, the columns correspond to the x direction. This simplifies the line-by-line scanning of the cable turns and the column-by-line evaluation of the intensity values according to FIG. 5.
• the two intensity distributions HPS and HP23 differ significantly in their amplitudes because the disturbance ST3 is not illuminated by the light band but by the ambient light and is therefore weaker than the actual light reflections BD21 to BD23 corresponding to the cable contour according to FIG. 5.
• a threshold iS it can be ensured that interference corresponding to HPS is suppressed, while the amplitude values caused by the reflecting cable surfaces are available for further evaluation in accordance with HP23.
• Figure 7 shows the adjusted (i.e. without disturbances) only to the maxi a e.g. HP23M of the respective image points of the arc path, the height h here, as in FIG. 5, represents the ordinate and the abscissa the respective distance values transverse to the longitudinal axis of the cable.
• the point P23 with the height h3 has the distance x3 and was obtained as described above by analyzing the column P23 at the apex of BD23.
• FIGS. 5 and 7 thus show overall how interference can be suppressed and how a more precise, corrected one from FIG. 5 (indicated by the thinner contour lines in FIG. 7).
• the image or brightness sheets BD21 to BD23 in FIG. 5 are not distributed uniformly over the course of the respective sheet, but rather point at certain points, e.g. also as a result of printing or the like a stronger reflection behavior and thus give brighter light reflections. These are indicated by the widening at the right end of the picture sheet. This undesirable in itself
• Image components can advantageously be largely eliminated by using a high-pass filter, specifically before the further evaluation of the recorded height profile lines is carried out.
• This pre-filtering results in an approximately even image progression, i.e. the widenings in FIG. 5 disappear, is shown, d. H. the additional disruptive portions such. B. BD23R are largely eliminated.
• This pre-filtering of the intensity values in particular by means of a linear high-pass filter, can thus reinforce the edge transitions of the contour sought and largely eliminate fluctuations in brightness in the image recorded in each case.
• z. B. the intensity distribution HP23 in Figure 6 has significantly steeper flanks and thus enables a more precise determination of the height values e.g. h3.
• Methods for determining maximum values are used, such as. B. Differentiation, difference value determination of successive measuring points, etc. This determination of the maximum value is described below using histograms.
• the relative height of the respective successive contour points shown in FIG. 7 is entered in a list of the contour profile, that is to say the continuous curve shown in FIG. 7 is actually a succession of discrete individual values in a height table, in each case correlated with the associated x value.
• Figure 8 shows the same distribution as Figure 7, i.e. H. the height h is plotted on the ordinate and the distance x is plotted on the abscissa. Any faults still present, i. H. those which could not yet be completely eliminated by the measures according to FIG. 6 are schematically designated ST81 and ST82. It is assumed that the scanning window, which is moved continuously or step by step over the contour according to FIG. 8, currently lies on the contour KT21 of the winding WD21.
• the evaluation window AF1 is narrower (preferably approx. 0.3-0.7 D, advantageously 0.5 D) than the cable diameter D, in order to ensure an evaluation based on the individual turn in the course of the contour.
• a height histogram is obtained, which is shown in FIG. 9, the ordinate representing the number n of points with the same height and the height h being plotted on the abscissa.
• the histogram distribution shown for the winding WD21 which is denoted by HD21.
• the maxima of this distribution of the height values in accordance with HD21M are written into a table in accordance with FIG. 10.
• three maximum values indicated by crosses are drawn, of which the middle (by averaging) is marked as PD21M and corresponds to the position xl of the maximum (apex of the winding WD21).
• This value xl is entered in the diagram corresponding to FIG. 10 or written into a table, the number of hits being shown on the ordinate, while the corresponding values xl to x3 of corresponding maxima are entered on the x-axis, that is to say the vertices of adjacent turns.
• the histogram HD15 is entered in FIG. 9 for the winding WD15 (scanning window in the position AF1 *), but this has a lower value of h because it can be assigned to the layer WL1 underneath.
• the peak value x5 of the winding WD15 is determined from this.
• the smaller value of PD14 is not relevant as the rest of the contour KT14 of the winding WD14.
• the values of the lower layer WL1 can be clearly distinguished from those of the layer WL2 by the different height values h1 and h2 (cf. FIG. 13).
• the new histogram in accordance with FIG. 9 is determined from the last calculated histogram. For this purpose, the new height value of the pixel at the end of the window is entered in the histogram and the height value of the pixel at the beginning of the window is removed from the histogram.
• the amplitude values according to FIG. 9 are stored in a maximum list, ie the respective sum value n ⁇ x and the associated height value h are stored together with the x values xl to x5 or are written into a register.
• the positions of the individual turns can be separated from one another and precisely determined by comparing the maximum profile with an adjustable threshold nS in FIG.
• the influence of the disturbances ST81 and ST82 (FIG. 8) or the resulting distributions ST82 * and ST81 * (FIG. 9) are suppressed, for example, by a threshold, since their sum values r ax are significantly smaller than that of the turns.
• FIG. 11 shows the adjusted contour profile corresponding to FIG. 8, the height h being plotted on the ordinate and the distance x plotted on the abscissa. 5H G -d ⁇ ⁇ ⁇
• the flange position xF is thus continuously determined again and used for the further control of the reeling process.
• Embodiments were always assumed to run from left to right, now from right to left, i.e. the traversing direction must be changed. This can be done depending on the respective laying or traversing method.
• the "discontinuity” marks the beginning of a new turn, during which the next "discontinuity” indicates the end of a turn.
• the time period for applying a turn can be used with particular advantage when reversing the traversing direction, because here the "ascent" is permitted and the traversing process is simply stopped for a certain time. This time, which varies from location to location according to the
• Layer circumference changes is determined from the above winding time per layer and as long as the traversing process is stopped.
• FIG 19 shows a schematic representation of the basic structure of a cable laying device according to the invention.
• the cable drum SP can be moved between two stops AS1 and AS2 for traversing, while rotating around the axis AX at the same time (the corresponding drive and adjustment means and the control are not shown here).
• commercially available winding devices are used in production, which can also be upgraded subsequently in accordance with the invention.
• This type of laying has the advantage that it is possible to work with a run-up point of the respective cable that is largely fixed in space.
• the control of the transverse displacement of the cable drum SP is carried out by a central control device CU.
• the mechanical pre-tensioning of the incoming cable, not shown here, is set by means of a dancer DSC, the tension of which can also be influenced by the central control device CU.
• the respective point of impact is illuminated by the light of a laser LSA, the alignment of which is also controlled by the central control unit CU. Furthermore, a central power supply PSU is provided, which supplies the individual parts with the necessary supply voltage, it being possible to control the various processes from a control panel STP.
• One or more video cameras VC are controlled via control electronics CTE and they deliver their video signal to the central control unit CU, in which the evaluation according to the figures from 5 to 19 is carried out.
• the control unit CU continues to control the various servo drives, e.g. B. for focusing the SH a co X! CD -.
• the guide device FE would be moved in the direction of the arrow PE1 and the ascent would thereby be eliminated.
• the guide device FE thus works very quickly, so that only small rotation angles are traversed in the direction of the winding circumference before the guide device FE intervenes.
• the winding material WM runs in via different deflection rollers URI to UR3 and finally reaches the winding drum or spool SP via the guide device FE.
• the various guide rollers URI to UR3 are attached to a support SUP, which runs essentially in the vertical direction.
• the guide arm FAR is provided, at the lower end of which the guide device FE is held via an extension arm AFE and a transverse arm FEA.
• This guide device FE effects the fine adjustment described in connection with FIG. 20, as indicated by the double arrow.
• the boom AFE is held on the guide arm FAR by a guide sleeve HLS2 and can thus be moved upwards along its axis with increasing winding height so that the guide correction can be carried out as quickly and precisely as possible.
• a boom ALA is provided on the guide arm FAR, which is arranged at a greater distance from the spool SP.
• This cantilever arm ALA is also slidably held in the longitudinal direction of the guide FAR by a guide sleeve HLS1 and carries the light source LS (laser light), which directs its beam onto the outer winding position.
• the video camera VC is attached to the end of this cantilever arm ALA, the detection area of which is directed towards the reflex zones of the light band which is not visible here.

Landscapes

• Length Measuring Devices By Optical Means (AREA)
• Winding Of Webs (AREA)
• Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)

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• 1997
  • 1997-06-20 DE DE19726285A patent/DE19726285A1/de not_active Withdrawn
• 1998
  • 1998-06-16 US US09/446,229 patent/US6443385B1/en not_active Expired - Fee Related
  • 1998-06-16 JP JP50356599A patent/JP2002508731A/ja not_active Abandoned
  • 1998-06-16 AT AT98936175T patent/ATE290986T1/de not_active IP Right Cessation
  • 1998-06-16 CA CA002295041A patent/CA2295041A1/fr not_active Abandoned
  • 1998-06-16 EP EP98936175A patent/EP0989950B1/fr not_active Expired - Lifetime
  • 1998-06-16 DE DE59812661T patent/DE59812661D1/de not_active Expired - Fee Related
  • 1998-06-16 CN CN98806408A patent/CN1261323A/zh active Pending
  • 1998-06-16 WO PCT/DE1998/001630 patent/WO1998058865A1/fr active IP Right Grant

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