EP1308406B1 - Device for detecting the position of a side edge - Google Patents

Device for detecting the position of a side edge Download PDF

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Publication number
EP1308406B1
EP1308406B1 EP02023701A EP02023701A EP1308406B1 EP 1308406 B1 EP1308406 B1 EP 1308406B1 EP 02023701 A EP02023701 A EP 02023701A EP 02023701 A EP02023701 A EP 02023701A EP 1308406 B1 EP1308406 B1 EP 1308406B1
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EP
European Patent Office
Prior art keywords
equipment according
camera
feed table
sensor system
format
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 - Fee Related
Application number
EP02023701A
Other languages
German (de)
French (fr)
Other versions
EP1308406A3 (en
EP1308406B2 (en
EP1308406A2 (en
Inventor
Arndt Jentsch
Stefan Singer
Bernd Stöber
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.)
Koenig and Bauer AG
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Koenig and Bauer AG
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Filing date
Publication date
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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
    • B65H7/00—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles
    • B65H7/02—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors
    • B65H7/14—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors by photoelectric feelers or detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H11/00—Feed tables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/20—Location in space
    • B65H2511/23—Coordinates, e.g. three dimensional coordinates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/50—Occurence
    • B65H2511/51—Presence
    • B65H2511/514—Particular portion of element
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/60—Optical characteristics, e.g. colour, light
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/13—Parts concerned of the handled material
    • B65H2701/131—Edges
    • B65H2701/1315—Edges side edges, i.e. regarded in context of transport

Definitions

  • the invention relates to a device for detecting the position of a side edge of a fed to a feed table and the leading edge against leading marks sheet, wherein the side edges within a determined by a minimum and a maximum possible processing format format difference range run in and with the aid of a trained as a camera measuring device be detected.
  • a device is known from DE 101 36 871 A1 (disclosure date: 6.2.2003), in which a measuring device embodied as a camera is arranged on a traverse provided at a distance above the feed table. Since it is common in sheet-processing machines to selectively detect either the right or left in the sheet transport direction side edge, the camera is slidably mounted on the crosshead. Thus, the camera can be adjusted to the spreading area, in which the sheets to be aligned are conveyed with the side edge on the feed table. That is, the camera must be mechanically adjusted to the different sheet formats and its position detected to a reference point.
  • This device requires for their realization and to achieve a sufficient measurement accuracy a lot of effort.
  • the object of the invention is to provide a device for detecting the position of the side edge, which can be realized with little effort and detects the position of the side edge with a high accuracy of measurement.
  • the solution according to the invention makes it possible, without mechanical adjustment of the measuring device, to detect the actual position of a side edge at each format occurring within the format difference range and to compare it with a predefined setpoint position, whereby a high measuring accuracy is realized with simple means.
  • a feed table 1 is shown with front marks 4.
  • the Anlegmarken 4 are distributed at intervals over the width of the feed table 1 and executed by not shown means from the position on the feed table 1 in a position under the feed table 1 be moved.
  • a sheet 2 which was supported by a belt table, not shown, in the sheet transport direction 3 on the feed table 1 and with the front edge against the front marks 4.
  • a cross member 5 is provided fixed to the frame.
  • a camera 6 is provided according to FIG. 2, which is fixedly connected to the cross member 5.
  • the camera 6 consists of a housing 9 and a lens 10.
  • the housing 9 has a first sensor system 11 and a second sensor system 12 spaced therefrom.
  • the sensor systems 11, 12 are designed as image sensors, preferably in line form.
  • the camera 6 can each be assigned a light source 21, as shown in FIG.
  • the sheets 2 are usually conveyed approximately symmetrically to a machine center 15 on the feed table 1, wherein the format of the sheet 2 can move between a minimum sheet size F min and a maximum sheet size F max .
  • a format difference range 17 and 18 results on both sides of the sheet 2 conveyed onto the feed table 1.
  • the first format difference region 17 is assigned to a section located in the sheet transport direction 3 on the left side, while the second format difference region 18 is located on the opposite side Page is provided.
  • the sheet 2 runs with its side edge 19 into the first format difference region 17 and with the opposite side edge 20 into the second format difference region 18.
  • the camera 6 has a housing 9 and a lens 10.
  • the camera 6 is arranged approximately symmetrically to the machine center 16, dashed representation in Fig. 3, and the lens 10 and the distance between the camera 6 and the surface of the feed table 1 are selected so that the maximum format F max in the camera. 6 maps.
  • a first sensor system 11 and a second sensor system 12 are provided in the camera 6. On the first sensor system 11 becomes the first format difference range 17 and imaged on the second sensor area 12 of the second format difference area 18.
  • the format difference regions 17, 18 can optionally be activated so that the first sensor system 11 is detected to detect the actual position of the left side edge 19 entering the first format difference region 17 and the second sensor system 12 is activated to detect the right side edge 20 entering the second format difference region 18. Accordingly, a light / dark difference is formed on the first sensor system 11 the actual position of the left side edge 19 and on the second sensor system 12 by a light / dark difference, the right side edge 20 from.
  • an actual signal is generated, which is compared with a stored in the processing electronics target signal. If the signals do not match, an actuating signal is generated, which is supplied to actuating means, by means of which the desired position of the respective side edge 19, 20 is realized.
  • the light source 21 may be formed so that optionally colored light, preferably red, green or blue light is emitted or from these colors different mixed colors are realized.
  • the surface of the setting table 1 can be formed by being polished, provided with a coloring layer or a reflection means.

Description

Die Erfindung betrifft eine Einrichtung zum Erfassen der Position einer Seitenkante eines auf einen Anlegtisch und mit der Vorderkante gegen Vordermarken geförderten Bogens, wobei die Seitenkanten innerhalb eines durch ein minimales und ein maximales zur Verarbeitung möglichen Formats bestimmten Formatdifferenzbereiches einlaufen und mit Hilfe einer als Kamera ausgebildeten Messeinrichtung detektiert werden.The invention relates to a device for detecting the position of a side edge of a fed to a feed table and the leading edge against leading marks sheet, wherein the side edges within a determined by a minimum and a maximum possible processing format format difference range run in and with the aid of a trained as a camera measuring device be detected.

Aus der DE 101 36 871 A1 (Offenlegungstag: 6.2.2003) ist eine Vorrichtung bekannt, bei der eine als Kamera ausgebildete Messeinrichtung an einer in einem Abstand über dem Anlegtisch vorgesehenen Traverse angeordnet ist. Da es bei bogenverarbeitenden Maschinen üblich ist, wahlweise entweder die in Bogentransportrichtung rechte oder linke Seitenkante zu erfassen, ist die Kamera verschiebbar auf der Traverse angeordnet. Damit kann die Kamera auf den Streubereich eingestellt werden, in dem die auszurichtenden Bogen mit der Seitenkante auf den Anlegtisch gefördert werden. D.h., die Kamera muss auf die unterschiedlichen Bogenformate mechanisch eingestellt und ihre Lage zu einem Bezugspunkt erfasst werden.A device is known from DE 101 36 871 A1 (disclosure date: 6.2.2003), in which a measuring device embodied as a camera is arranged on a traverse provided at a distance above the feed table. Since it is common in sheet-processing machines to selectively detect either the right or left in the sheet transport direction side edge, the camera is slidably mounted on the crosshead. Thus, the camera can be adjusted to the spreading area, in which the sheets to be aligned are conveyed with the side edge on the feed table. That is, the camera must be mechanically adjusted to the different sheet formats and its position detected to a reference point.

Diese Vorrichtung erfordert zu ihrer Realisierung sowie zum Erreichen einer ausreichenden Messgenauigkeit einen hohen Aufwand.This device requires for their realization and to achieve a sufficient measurement accuracy a lot of effort.

Aufgabe der Erfindung ist es, eine Einrichtung zum Erfassen der Lage der Seitenkante zu schaffen, die mit einem geringen Aufwand zu realisieren ist und mit einer hohen Messgenauigkeit die Lage der Seitenkante erfasst.The object of the invention is to provide a device for detecting the position of the side edge, which can be realized with little effort and detects the position of the side edge with a high accuracy of measurement.

Erfindungsgemäß wird die Aufgabe durch eine Einrichtung nach den Merkmalen des Anspruchs 1 gelöst.According to the invention the object is achieved by a device according to the features of claim 1.

Durch die erfindungsgemäße Lösung ist es möglich, ohne eine mechanische Verstellung der Messeinrichtung bei jedem innerhalb des Formatdifferenzbereiches anfallenden Formats die Istposition einer Seitenkante zu erfassen und mit einer vorgegebenen Sollposition zu vergleichen, wobei mit einfachen Mitteln eine hohe Messgenauigkeit realisiert wird.The solution according to the invention makes it possible, without mechanical adjustment of the measuring device, to detect the actual position of a side edge at each format occurring within the format difference range and to compare it with a predefined setpoint position, whereby a high measuring accuracy is realized with simple means.

Die Erfindung wird an einem Ausführungsbeispiel näher erläutert.The invention will be explained in more detail using an exemplary embodiment.

In den zugehörigen Zeichnungen zeigen

Fig. 1
eine schematische Darstellung eines Anlegtischs mit einer erfindungsgemäßen Einrichtung,
Fig. 2
eine Schnittdarstellung entlang der Linie A-A in Fig. 1,
Fig. 3
einen Anlegtisch in der Draufsicht.
In the accompanying drawings show
Fig. 1
a schematic representation of a feed table with a device according to the invention,
Fig. 2
a sectional view taken along the line AA in Fig. 1,
Fig. 3
a feed table in the plan view.

In den Figuren 1 und 3 ist ein Anlegtisch 1 mit Vordermarken 4 dargestellt. Die Anlegmarken 4 sind in Abständen zueinander verteilt über die Breite des Anlegtischs 1 angeordnet und durch nicht dargestellte Mittel aus der Position am Anlegtisch 1 in eine Position unter dem Anlegtisch 1 verbringbar ausgeführt. Auf dem Anlegtisch 1 liegt ein Bogen 2, der von einem nicht dargestellten Bändertisch in Bogentransportrichtung 3 auf den Anlegtisch 1 sowie mit der Vorderkante gegen die Vordermarken 4 gefördert wurde. In einem Abstand zur Oberfläche des Anlegtischs 1 ist gestellfest eine Traverse 5 vorgesehen. An der Traverse 5 ist nach Fig. 2 eine Kamera 6 vorgesehen, die fest mit der Traverse 5 verbunden ist. Die Kamera 6 besteht aus einem Gehäuse 9 und einem Objektiv 10. Im Gehäuse 9 ist ein erstes Sensorsystem 11 und beabstandet dazu ein zweites Sensorsystem 12 vorgesehen. Die Sensorsysteme 11, 12 sind als Bildsensoren, vorzugsweise in Linienform ausgebildet. Der Kamera 6 kann jeweils eine Lichtquelle 21 zugeordnet sein, wie in Fig. 1 gezeigt.
Die Bogen 2 werden in der Regel etwa symmetrisch zu einer Maschinenmitte 15 auf den Anlegtisch 1 gefördert, wobei das Format der Bogen 2 sich zwischen einem minimalen Bogenformat Fmin und einem maximalen Bogenformat Fmax bewegen kann. Damit ergibt sich auf beiden Seiten der auf den Anlegtisch 1 geförderten Bogen 2 jeweils ein Formatdifferenzbereich 17 und 18. In der Figur 3 ist der erste Formatdifferenzbereich 17 einem in Bogentransportrichtung 3 auf der linken Seite gelegenen Abschnitt zugeordnet, während der zweite Formatdifferenzbereich 18 auf der gegenüberliegenden Seite vorgesehen ist. Damit läuft in der Fig. 3 der Bogen 2 mit seiner Seitenkante 19 in den ersten Formatdifferenzbereich 17 und mit der gegenüberliegenden Seitenkante 20 in den zweiten Formatdifferenzbereich 18 ein.In Figures 1 and 3, a feed table 1 is shown with front marks 4. The Anlegmarken 4 are distributed at intervals over the width of the feed table 1 and executed by not shown means from the position on the feed table 1 in a position under the feed table 1 be moved. On the feed table 1 is a sheet 2, which was supported by a belt table, not shown, in the sheet transport direction 3 on the feed table 1 and with the front edge against the front marks 4. At a distance from the surface of the feed table 1, a cross member 5 is provided fixed to the frame. On the cross member 5, a camera 6 is provided according to FIG. 2, which is fixedly connected to the cross member 5. The camera 6 consists of a housing 9 and a lens 10. The housing 9 has a first sensor system 11 and a second sensor system 12 spaced therefrom. The sensor systems 11, 12 are designed as image sensors, preferably in line form. The camera 6 can each be assigned a light source 21, as shown in FIG.
The sheets 2 are usually conveyed approximately symmetrically to a machine center 15 on the feed table 1, wherein the format of the sheet 2 can move between a minimum sheet size F min and a maximum sheet size F max . Thus, a format difference range 17 and 18 results on both sides of the sheet 2 conveyed onto the feed table 1. In FIG. 3, the first format difference region 17 is assigned to a section located in the sheet transport direction 3 on the left side, while the second format difference region 18 is located on the opposite side Page is provided. Thus, in FIG. 3, the sheet 2 runs with its side edge 19 into the first format difference region 17 and with the opposite side edge 20 into the second format difference region 18.

Die Kamera 6 weist ein Gehäuse 9 und ein Objektiv 10 auf. Die Kamera 6 ist etwa symmetrisch zur Maschinenmitte 16 angeordnet, gestrichelte Darstellung in Fig. 3, und das Objektiv 10 sowie der Abstand zwischen der Kamera 6 und der Oberfläche des Anlegtischs 1 sind so gewählt, dass sich das maximale Format Fmax in der Kamera 6 abbildet. Da jedoch zur Bestimmung der Istposition der Seitenkanten 19, 20 lediglich ein Erfassen der Formatbereiche 17, 18 erforderlich ist, sind in der Kamera 6 ein erstes Sensorsystem 11 und ein zweites Sensorsystem 12 vorgesehen. Auf dem ersten Sensorsystem 11 wird der erste Formatdifferenzbereich 17 und auf dem zweiten Sensorbereich 12 der zweite Formatdifferenzbereich 18 abgebildet. Die Formatdifferenzbereiche 17, 18 können wahlweise aktiviert werden, so dass zum Erfassen der Istposition der im ersten Formatdifferenzbereich 17 einlaufenden linken Seitenkante 19 das erste Sensorsystem 11 und zum Erfassen der in den zweiten Formatdifferenzbereich 18 einlaufenden rechten Seitenkante 20 das zweite Sensorsystem 12 aktiviert wird. Entsprechend bildet sich auf dem ersten Sensorsystem 11 durch einen Hell-/Dunkelunterschied die Istposition der linken Seitenkante 19 und auf dem zweiten Sensorsystem 12 durch einen Hell-/Dunkelunterschied die rechte Seitenkante 20 ab. Durch das Sensorsystem 11 oder 12 wird ein Istsignal generiert, das mit einem in der Verarbeitungselektronik abgelegten Sollsignal verglichen wird. Bei Nichtübereinstimmung der Signale wird ein Stellsignal generiert, welches Stellmitteln zugeführt wird, durch die die Sollposition der jeweiligen Seitenkante 19,20 realisiert wird.
Um unabhängig von der Beschaffenheit des zur Verarbeitung gelangenden Bogenmateriats die Seitenkanten 19 oder 20 erfassen zu können, ist es möglich, kontrastunterstützende Mittel vorzusehen. So kann die Lichtquelle 21 so ausgebildet sein, dass wahlweise farbiges Licht, vorzugsweise rotes, grünes oder blaues Licht emittiert wird oder aus diesen Farben unterschiedliche Mischfarben realisiert werden. Als kontrastunterstützendes Mittel kann auch die Oberfläche des Anlegtischs 1 ausgebildet werden, indem diese poliert, mit einer Farbschicht oder mit einem Reflexionsmittel versehen wird. Außerdem ist es möglich, in dem dem Bogen 2 zugewandten Bereich des Anlegtischs 1 austauschbar kontrastunterstützende Mittel vorzusehen.
Es ist auch möglich, unter Ausnutzung der Oberflächeneigenschaften der Bogen 2 über Winkelanordnung der Lichtquelle 21 eine Kontrastverstärkung zu realisieren. Hierzu ist es denkbar; unter Einbeziehung der Oberfläche des Anlegtischs 1 den Oberflächenreflex zu eliminieren.
Als kontrastverstärkendes Mittel können hierbei zusätzlich Polarisationsfilter in den optischen Strahlengang gebracht werden.The camera 6 has a housing 9 and a lens 10. The camera 6 is arranged approximately symmetrically to the machine center 16, dashed representation in Fig. 3, and the lens 10 and the distance between the camera 6 and the surface of the feed table 1 are selected so that the maximum format F max in the camera. 6 maps. However, since only the detection of the format areas 17, 18 is required to determine the actual position of the side edges 19, 20, a first sensor system 11 and a second sensor system 12 are provided in the camera 6. On the first sensor system 11 becomes the first format difference range 17 and imaged on the second sensor area 12 of the second format difference area 18. The format difference regions 17, 18 can optionally be activated so that the first sensor system 11 is detected to detect the actual position of the left side edge 19 entering the first format difference region 17 and the second sensor system 12 is activated to detect the right side edge 20 entering the second format difference region 18. Accordingly, a light / dark difference is formed on the first sensor system 11 the actual position of the left side edge 19 and on the second sensor system 12 by a light / dark difference, the right side edge 20 from. By the sensor system 11 or 12, an actual signal is generated, which is compared with a stored in the processing electronics target signal. If the signals do not match, an actuating signal is generated, which is supplied to actuating means, by means of which the desired position of the respective side edge 19, 20 is realized.
In order to be able to detect the side edges 19 or 20 irrespective of the nature of the sheet material to be processed, it is possible to provide contrast-assisting means. Thus, the light source 21 may be formed so that optionally colored light, preferably red, green or blue light is emitted or from these colors different mixed colors are realized. As a contrast-assisting agent, the surface of the setting table 1 can be formed by being polished, provided with a coloring layer or a reflection means. In addition, it is possible to provide interchangeable contrast-assisting means in the area of the feed table 1 facing the sheet 2.
It is also possible, by utilizing the surface properties of the sheet 2 via angular arrangement of the light source 21 to realize a contrast enhancement. It is conceivable for this purpose; including the surface of the feed table 1 to eliminate the surface reflection.
In this case additionally polarization filters can be brought into the optical beam path as a contrast-enhancing agent.

Aufstellung der verwendeten BezugszeichenList of used reference numbers

11
Anlegtischfeed table
22
Bogenbow
33
BogentransportrichtungSheet transport direction
44
Vordermarkefront lay
55
Traversetraverse
66
Kameracamera
77
--
88th
--
99
Gehäusecasing
1010
Objektivlens
1111
erstes Sensorsystemfirst sensor system
1212
zweites Sensorsystemsecond sensor system
1313
Gehäusecasing
1414
Objektivlens
1515
Sensorsystemsensor system
1616
Maschinenmittemachine center
1717
erster Formatdifferenzbereichfirst format difference range
1818
zweiter Formatdifferenzbereichsecond format difference range
1919
linke Seitenkanteleft side edge
2020
rechte Seitenkanteright side edge
2121
Lichtquellelight source
Fmin F min
minimales Formatminimal format
Fmax F max
maximales Formatmaximum format

Claims (9)

  1. Equipment for detecting the position of a side edge of a sheet (2) conveyed on a feed table (1) and by the front edge against front marks (4), wherein the side edges run in within a format difference range determined by a minimum and maximum format possible for processing and are detected with the help of a measuring device constructed as a camera (6), characterised in that a camera (6), by which imaging of a first format difference range (17) and a second format difference range (18) can be realised, is arranged fixed relative to the frame and at a spacing above the feed table (1).
  2. Equipment according to claim 1, characterised in that the camera (6) has an objective (10) as well as a first sensor system (11) and a second sensor system (12).
  3. Equipment according to claim 1, characterised in that the objective (10) images the first format difference range (17) on the first sensor system (11) and the second format difference range (18) on the second sensor system (12).
  4. Equipment according to claim 1 to 3, characterised in that the sensor systems (11, 12) are selectably activatable.
  5. Equipment according to claim 1, characterised in that contrast-assisting means are associated with the camera (6).
  6. Equipment according to claim 1 and 5, characterised in that a light source (21) is associated as contrast-assisting means of the camera (6).
  7. Equipment according to claim 1, 5 and 6, characterised in that the light source (21) selectably emits coloured light.
  8. Equipment according to claim 1 and 5, characterised in that the surface of the feed table (1) is provided with a coloured or reflective layer as contrast-assisting means.
  9. Equipment according to claim 1, 5 and 8, characterised in that exchangeable inserts provided with a coloured layer or reflective layer are provided in the surface of the feed table (1) as contrast-assisting means.
EP02023701A 2001-11-02 2002-10-23 Device for detecting the position of a side edge Expired - Fee Related EP1308406B2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10154036 2001-11-02
DE10154036A DE10154036A1 (en) 2001-11-02 2001-11-02 Device for detecting the position of a side edge

Publications (4)

Publication Number Publication Date
EP1308406A2 EP1308406A2 (en) 2003-05-07
EP1308406A3 EP1308406A3 (en) 2004-03-17
EP1308406B1 true EP1308406B1 (en) 2006-03-08
EP1308406B2 EP1308406B2 (en) 2009-07-08

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DE (2) DE10154036A1 (en)

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EP1308406A3 (en) 2004-03-17
DE50205999D1 (en) 2006-05-04
DE10154036A1 (en) 2003-05-15
EP1308406B2 (en) 2009-07-08
EP1308406A2 (en) 2003-05-07

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