EP1556266B1 - Spurgeführtes transportsystem und verfahren zum steuern von fahrwagen eines spurgeführten transportsystems - Google Patents

Spurgeführtes transportsystem und verfahren zum steuern von fahrwagen eines spurgeführten transportsystems Download PDF

Info

Publication number
EP1556266B1
EP1556266B1 EP03769373A EP03769373A EP1556266B1 EP 1556266 B1 EP1556266 B1 EP 1556266B1 EP 03769373 A EP03769373 A EP 03769373A EP 03769373 A EP03769373 A EP 03769373A EP 1556266 B1 EP1556266 B1 EP 1556266B1
Authority
EP
European Patent Office
Prior art keywords
vehicle
successor
message
node
forerunner
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
EP03769373A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP1556266A1 (de
Inventor
Werner Fischer
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.)
Duerr Systems AG
Original Assignee
Duerr Systems 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 Duerr Systems AG filed Critical Duerr Systems AG
Publication of EP1556266A1 publication Critical patent/EP1556266A1/de
Application granted granted Critical
Publication of EP1556266B1 publication Critical patent/EP1556266B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/34—Control, warning or like safety means along the route or between vehicles or trains for indicating the distance between vehicles or trains by the transmission of signals therebetween

Definitions

  • the present invention relates to a track-guided transport system, in particular a monorail system comprising a lane network with at least one node adjacent to at least two sections of the lane network, and a plurality of carriages, which are movable along the lane network and each comprise a control unit.
  • the present invention relates to a method for controlling vehicles of such a track-guided transport system.
  • Such a track-guided transport system is for example from the DE 195 12 107 A1 known.
  • the track-guided transport system comprises a large number of carriages, which are moved along the lane network at the same time, a high level of computation in the central control unit and a very extensive exchange of data between the carriages and vehicles are required for controlling all of these carriages by means of a central control device of the transport system the central control unit required.
  • the DE 198 28 878 A1 discloses a lane-guided transport system comprising a lane network with nodes adjoining at least two lane sections of the lane network and a plurality of carriages that are movable along the lane network and each comprising a control unit, wherein a plurality of carriages are virtually coupled and during the Coupling be then treated by the trackside facilities as a single vehicle association, the top of which is determined by the top vehicle formerly driving ahead and its conclusion by the final vehicle of the formerly succeeding vehicles, the trackside facilities communicate only with a single carriage of the truck association.
  • the present invention has for its object to provide a track-guided transport system of the type mentioned, which allows a simple and reliable control of the movements of these vehicles even with a large number of vehicles.
  • a "successor” is to be understood as another carriage, whose current position - seen in the direction of travel of the relevant vehicle - is behind the relevant vehicle. This successor may also be located on a different section than the relevant vehicle.
  • a "precursor” is understood to mean another carriage whose current position, viewed in the direction of travel of the relevant vehicle, lies in front of the relevant vehicle. Such a precursor may also be located on a different section of track than the relevant carriage.
  • each of the carriages at any one time knows its successor and precursor (or knows that it has no successor or predecessor to watch out for)
  • the data traffic required to control the movement of the carriages can be between the trolley on the one hand and a central control unit of the track-guided transport system on the other hand are significantly reduced. It is even possible that the movement of the carriage exclusively by Communication of the car is controlled with each other, without the need for a central control unit is required.
  • the regulation of the mutual distance can be carried out on a stretch of consecutive moving carriage without the interposition of a central control unit, for example, by each carriage continues to pass its current position to its successor, the successor from the position of the precursor and the own position continuously the Determined distance of the two carriages and optionally the necessary measures (braking or accelerating) performs to regulate the mutual distance to a predetermined setpoint.
  • the lane network of the track-guided transport system also includes nodes at which the follower and forerunner relationships between the carriages change, the successor or precursor information of each cart is updated as the carriage passes a node of the lane network.
  • Such a node of the lane network may be formed, for example, as a branch at which a lane branches into several further lanes.
  • such a node of the lane network may be formed as a merger, in which combine several lanes to a continuing lane.
  • the successor or the precursor of a trolley information is updated by communication with at least one other carriage of the transport system.
  • the information relating to the successor or the precursor of a trolley is updated by communication with a node management unit arranged outside the trolley.
  • Such a node management unit may in particular comprise a programmable computer and the associated node management software.
  • the node management unit comprises a plurality of node management software modules running on different computers. These computers can also be spatially separated. In particular, at least one of these computers can be arranged stationary. Alternatively or additionally, it can also be provided that at least one of these computers is arranged in one of the carriages of the transport system.
  • At least one node management unit is arranged stationary.
  • At least one node management unit is arranged in a central control device of the transport system.
  • At least one node management unit manages several nodes of the lane network.
  • each node of the lane network is assigned its own node management unit.
  • the updating of the information concerning the successor or the precursor can be achieved, for example, by sending a vehicle after passing a braking point which is assigned to a node, a message containing an update of the successor and / or a precursor of the relevant vehicle relevant information.
  • a "braking point” is to be understood as meaning a point of a route section which has a predetermined distance from the node, which may be a merge or a branch, which is determined depending on the speed of the relevant vehicle such that the Trolley can be brought to a standstill in time before the node to avoid a collision with another, the node passing carriage.
  • the message transmitted by the carriage when the braking point passes can be directed to another carriage or to a node management unit of the transport system.
  • a vehicle after passing a braking point which is assigned to a node, sends a message which triggers an update of a successor and / or a precursor of at least one other vehicle relating information.
  • a particularly high level of operational reliability is achieved if it is provided that a carriage after passing a braking point, the node is assigned, sends a message which triggers an update of the information relating to a successor and / or a precursor of at least one vehicle, and then receives an acknowledgment message which has been triggered directly or indirectly by the transmission of the message. In this way, the cart that initiated an update process receives an acknowledgment that its message initiating the update has reached the receiver and that the update has been successfully completed.
  • the acknowledgment message may be sent by the recipient of the update-initiating message or by another sender who has been included in the update process by the recipient of the update-initiating message.
  • a vehicle after passing a collision point which is assigned to a node, sends a message which triggers an update of the information relating to a successor and / or a precursor of the relevant vehicle.
  • a “collision point” is to be understood as meaning a point of a route section which is at such a distance from the associated node that a vehicle which is located on the side of the collision point facing away from the node has such a distance from the node that a vehicle Collision with another carriage, which passes the same node on other sections, is excluded.
  • the collision point lies in front of the node in the direction of travel.
  • the collision point lies behind the node in the direction of travel.
  • the determination of a collision point is usually - in contrast to the determination of the braking point - regardless of the current speed of the trolley.
  • the update-triggering message may be sent to another vehicle or to a node management unit.
  • a vehicle after passing a collision point which is assigned to a node, sends a message which triggers an update of the information relating to a successor and / or a precursor of at least one other vehicle.
  • the reliability of the transport system according to the invention is further increased, if it is provided that a vehicle after passing a collision point, which is assigned to a node sends a message that triggers an update of a successor and / or a precursor of at least one vehicle information relating to and then receive an acknowledgment message which has been triggered directly or indirectly by the transmission of the message. In this way, the vehicle that initiates an update process receives an acknowledgment that its update-triggering message has reached the receiver and the entire update process has been successfully completed.
  • suitable measures for example, an emergency stop the trolley, may be provided.
  • the invention is based on the further object of providing a method for controlling traveling carriages of a track-guided transport system of the type mentioned above, which allows a simple and reliable control of the movement of the carriages even with a large number of carriages.
  • a designated as a whole with 100 and in the embodiment designed as monorail conveyor system comprises a in Fig. 1 in cross section and in Fig. 2 in the side view shown running rail 102, an upper belt 104 with an upper, substantially flat tread 106 and two lateral Guide surfaces 108 and 110 and a lower strap 112 having a lower planar tread 114 and two lateral guide surfaces 116 and 118 has.
  • Both belts are connected to each other at their opposite sides of the treads via a vertical web 120, whose walls are flat and parallel to the rail longitudinal direction 121.
  • a carrying roller 126 of a trolley 128 of the monorail conveyor 100 rolls off.
  • carriage 128 Of this carriage 128 are in the figures except the support roller 126 only lateral guide rollers 132, 134, 136 and 138, which roll on the lateral guide surfaces 108, 110, 116 and 118, and a power transmission unit 140 and a data transmission unit 146 shown.
  • the power transmission unit 140 comprises, for example, a current collector 142, which is designed as a U-shaped ferrite core and on which a conductor winding 144 is arranged, which is connected to a (not shown) pantograph electronic circuit for converting an induced current in the conductor winding AC into a DC voltage.
  • a current collector 142 which is designed as a U-shaped ferrite core and on which a conductor winding 144 is arranged, which is connected to a (not shown) pantograph electronic circuit for converting an induced current in the conductor winding AC into a DC voltage.
  • the power supply line 124 dips into the U-shaped current collector 142 of the power transmission unit 140 without touching the same.
  • the energy transfer of the power supply line 124 to the power transmission unit 140 is effected by induction.
  • a medium-frequency alternating current is fed into the power supply line 124 and serving as a return rail 102, which generates a correspondingly time-varying magnetic flux in the current collector 142 so that in the conductor winding 144 induces an alternating current and in the carriage 128 in a DC voltage for drive - and control purposes can be converted.
  • the carriage 128 is supported by means of a plurality of support rollers 126 on the track rail 102 and is guided by means of the guide rollers 132, 134, 136 and 138 on the lateral guide surfaces of the track rail 102.
  • carriage 128 with a (not shown) drive unit can be driven, which may be formed, for example, as a friction wheel drive.
  • the data transfer unit 146 of the truck 128 includes a near field coupler 148 which is supported on the carriage 128 above the power transmission unit 140 and is configured for bidirectional communication with a communication line 150 extending along the track rail 102 and via brackets 152 (see FIG. 2). at the Nahfeldkoppler 148 facing side wall of the web 120 of the track rail 102 is held.
  • the data transmission line 150 is formed as a coaxial conductor 155 having a central copper conductor 156 and a jacket 158 surrounding it, the jacket 158 having on its side facing the near field coupler 148 of the carriage 128 an axial slot 159 extending in the longitudinal direction of the coaxial conductor 155, through which High frequency waves from the coaxial conductor 155 off or in the coaxial conductor 155 can occur.
  • the longitudinally slotted coaxial conductor 155 thus forms a leaky waveguide 154.
  • the leaky waveguide 154 is fed by a stationary central control device (not shown) of the transport system 100, stationary decentralized node management computers, and / or other vehicles with radio frequency signals which propagate along the leaky waveguide 154 and are received by the near field coupler 148 of the truck 128 , An evaluation circuit (not shown) in the carriage 128 demodulates these high-frequency signals and converts them into usable data from the control unit of the vehicle 128.
  • 128 data accumulated in the control unit of the trolley 128 is modulated by a modulation circuit to a high frequency carrier signal and fed via the Nahfeldkoppler 148 in the leaky waveguide 154, where these signals to another carriage or to stationary (central or decentralized) control stations of the transport system 100 spread.
  • each carriage 1208 the information about at least one successor of the relevant vehicle is stored.
  • a "successor" is to be understood as another carriage, whose current position - seen in the direction of travel of the relevant vehicle - is behind the relevant vehicle.
  • the successor may be on a different section than the relevant vehicle. If no successor is assigned to the relevant carriage 128 at a particular time, the information is stored in its control unit that the vehicle has no successor.
  • the information about at least one precursor of the relevant vehicle is stored in the control unit of each vehicle 128.
  • a "precursor” is to be understood as another carriage, the current position of which - viewed in the direction of travel of the relevant vehicle - lies in front of the relevant vehicle.
  • the precursor may be located on a different section than the relevant carriage. If the respective carriage at a certain time no precursor is assigned, then the information is stored in the control unit that the carriage has no precursor.
  • each of the carriages 128 at any one time knows its successor and precursor (or knows that it has no successor) allows the movement of the carriages to be controlled solely by communicating the carriages with each other, without requiring a central control unit must be turned on.
  • FIG. 3 three carriages are shown by way of example, which are designated V0, V1 and V2 and move on a section 160 in the same direction of travel 162.
  • the carriage V2 is the precursor of the vehicle V1, which in turn is the precursor of the vehicle V0.
  • the carriage V2 has no current precursor.
  • the vehicle V0 is the successor of the vehicle V1, which in turn is the successor to the vehicle V2.
  • the vehicle V0 has no current successor.
  • Each successor continuously calculates the distance to its predecessor. This can be done, for example, directly by a distance measuring device which is arranged on the carriage (for example V1) and measures the distance to the preceding carriage (for example V2).
  • the vehicle V1 continuously determines its own position in the lane network, continuously receives the current position of the carriage V2 of the carriage V2 and the distance between the two vehicles V2 and V1 by forming the difference from the Positions of these two carriages determined.
  • the determination of the position of a vehicle in the traffic lane network of the transport system 100 can be effected, for example, by arranging position indicators along the traffic lanes of the transport system 100, which are detected by means of a detection device on the relevant vehicle.
  • the complete lane network is stored with all position indicators, so that the respective carriage when driving past a position indicator can set its current position equal to the position of the position indicator.
  • Positions between two successive position indicators along the lane network may interpolate the control unit of the vehicle by means of a travel measuring system arranged on the carriage, which determines, for example, the distance traveled since the last position indicator based on the number of revolutions of a carrying roller of the vehicle.
  • the vehicle V1 determines that its distance to the precursor V2 has become too small. In response, the vehicle V1 reduces its speed and transmits to its successor V0 the information that the vehicle V1 reduces its speed.
  • the successor V0 is informed of the deceleration of the vehicle V1 before it determines it from the measurement of the distance between the carriages V1 and V0.
  • the vehicle V0 can adapt its own speed to the reduced speed of the preceding vehicle V1 at a very early stage.
  • the lane network of the transportation system 100 also includes merges and branches at which the successor and forerunner relationships between the carriages change, the information stored about the respective successor and the respective precursor in the carriage must be updated when passing such a node of the lane network.
  • This update of the successor and precursor information can be accomplished, for example, by direct communication of each three vehicles involved in each other.
  • a first car approaching a merge of two sections sends a message to its precursor (second car) that it claims the right to pass the merge.
  • the second carriage which is on the route leading away from the merge, has two successors: one successor on each of the route sections leading to the merge.
  • this predecessor receives from one of his successors the message that this successor claims the right to pass the merge, he sends to the other successor (third carriage) the message that the merger is blocked by the first successor, and deletes at the same time the second successor from the list of his successors.
  • the third carriage which has received notification of the blockage of the merger by the first vehicle from the second vehicle, stores the first vehicle as its new precursor and sends an acknowledgment message to the first vehicle which initiated the updating process shows that the third vehicle is now a successor to the first vehicle.
  • the first vehicle Upon receipt of this acknowledgment message, the first vehicle stores the third vehicle as an additional successor and passes the merge.
  • the first carriage After passing the merge, the first carriage sends the message to the third carriage that the merge is enabled again.
  • two sections 166 and 168 which lead to a junction 164 join at the junction 164 to a section 170 leading away from the junction 164.
  • the direction of travel in each of the sections is indicated by an arrow labeled 162.
  • the carriages V0, V1 and V2 move in the link 166 to the merge 164 to.
  • the carriages V3 and V5 move away from the merge 164 in the track section 170.
  • the carriages V4 and V6 move to the junction 164 in the link 168.
  • the carriage V2 is assigned to the vehicle V1 as a successor and the carriage V3 as a precursor.
  • the carriage V3 are assigned to the carriages V2 and V4 as a successor and the carriage V5 as a precursor.
  • the carriage V4 is assigned to the carriage V6 as a successor and the carriage V3 as a precursor.
  • the vehicle V2 has reached a predetermined distance (braking point) from the merge 164 (depending on the speed of the vehicle) and then triggers an updating process by sending a message to its predecessor V3 (arrow 172) ) sends that it enters the region of the merge 164 and thus blocks the merge 164.
  • the carriage V3 then sends to its second successor, the carriage V4, a message (arrow 174) that the merge 164 is blocked and the carriage V2 is the new precursor of the carriage V4. Furthermore, the vehicle V3 deletes the vehicle V4 from the list of his successors.
  • the carriage V4 replaces the carriage V3 in the list of its precursors with the new precursor V2 and transmits to the carriage V2 an acknowledgment message (arrow 176 in FIG. 6), from which the carriage V2 extracts that the updating process is complete and the carriage V4 be new successor is. Consequently, the vehicle V2 enters the vehicle V4 as another successor in the list of his successors.
  • either the vehicle V1 or the vehicle V4 can trigger a new update process, depending on which of these vehicles first falls below the predetermined distance from the merge 164, which triggers the update process described above.
  • the following describes the updating process which is triggered when a vehicle approaches a branch of the lane network of the transportation system 100.
  • a first carriage which is located on the section leading to the branch, has two precursors, namely one precursor on each branch section leading away from the branch.
  • the first carriage approaching the branching falls below a predetermined distance (depending on the speed of the truck) from the branch, it will send to that of its predecessors, which is located in the section in which the first carriage will not enter , a message with which the first vehicle unsubscribes as the successor of this second vehicle and the same time communicates to the second vehicle, which is the successor of the first vehicle.
  • the second carriage deletes the first carriage from the list of his successors and takes for him communicated successor of the first vehicle as a new successor.
  • the second carriage sends to a third vehicle, namely the previous successor of the first vehicle and the new successor of the second vehicle, the message that the second vehicle is now another precursor of the third vehicle.
  • the third carriage which moves on the leading to the branch section behind the first car, the second carriage as an additional precursor in the list of its precursors.
  • the third carriage sends an acknowledgment message to the first carriage, which takes the first carriage that the update process is completed.
  • the first carriage passes the branch, and a next update process is started as soon as the third carriage following it falls below the predetermined distance from the branch.
  • the carriages V2, V1 and V0 move along the direction of travel 162 towards the branch 178 on the section 180 leading to the branch 178, while the carriages V3 and V4 move on a first branch 178 leading away Route section 182 away from junction 178 and carriages V5 and V6 move away from junction 178 on a second section 184 leading away from junction 178.
  • the vehicle V1 is assigned to the vehicle V0 as a successor and the carriage V2 as a precursor.
  • the carriage V2 is the vehicle V1 as a successor and the carriages V3 and V5 are assigned as a precursor.
  • the carriage V3 is assigned to the carriage V2 as a successor and the carriage V4 as a precursor.
  • the carriage V5 is assigned to the carriage V2 as a successor and the carriage V6 as a precursor.
  • This updating process involves first the carriage V2 sends a message (arrow 186) to the vehicle V5, in which the vehicle V2 logs off as the successor of the vehicle V5 and at the same time logs the successor of the vehicle V2 as the new successor of the vehicle V5.
  • the vehicle V5 replaced then in the list of his successors the previous successor V2 by the new successor V1.
  • the vehicle V5 sends a message (arrow 188) to the vehicle V1, in which the vehicle V5 logs as a new, additional precursor of the vehicle V1.
  • the vehicle V1 then picks up the vehicle V5 as an additional precursor in the list of its predecessors.
  • the vehicle V1 sends an acknowledgment message (arrow 190) to the vehicle V2, from which the vehicle V2 extracts that the updating process has been completed successfully.
  • the carriage V2 passes the branch 178 (see FIG. 9), and a new updating operation, which is initiated by the carriage V1, begins as soon as the vehicle V1 falls below the predetermined minimum distance from the branch 178.
  • the successor and forerunner relationships between the carriages in passing the respective node have been updated solely by communicating the carriages with each other.
  • the updating of the successor and precursor relationships when passing a node takes place with the aid of a node management unit assigned to the respective node.
  • Such a node management unit which comprises a programmable computer and the associated node management software, can be arranged outside the carriages, in particular in a stationary node management computer. Alternatively or additionally, however, it is also possible for the node management unit to form part of the control unit of one of the carriages.
  • An update operation when passing a merge involving the node management unit of the merge can proceed as follows:
  • a vehicle to be moved to the merge transmits a message to the node management unit when passing a so-called braking point, which has a predetermined, dependent on the speed of the trolley distance from the merge, with which the trolley his entry into the area of the merger of the node management unit displays.
  • the node management unit maintains a list of carriages that have previously entered the merge area.
  • the node management unit sends only an acknowledgment message to the oncoming carriage, and the carriage's precursor and successor relationships remain unchanged.
  • the node management unit sends the message to this carriage entered in the list that this second carriage should receive the first carriage as a so-called "next successor".
  • each carriage is associated with two successors, a "current successor” and a "next successor".
  • each vehicle also has two precursors, namely a "current precursor” and a "next precursor”.
  • the second carriage thus enters the first vehicle as its "next successor" and sends to the first vehicle an acknowledgment message, from which the first vehicle takes, that now the second carriage is his "next precursor". Accordingly, the first vehicle enters the second vehicle as its "next precursor".
  • a second update process is triggered by the first carriage when it reaches a so-called "collision point" before the merge.
  • the distance of the collision point from the merge is (speed independent) determined so that a vehicle located in front of the collision point carriage can not collide with another, to move on another section on the same merge car.
  • the vehicle sends a message to the node management unit, from which the node management unit extracts that the relevant vehicle enters the route section leading away from the combination via the merge.
  • the node management unit sends an acknowledgment message to the relevant carriage from which the vehicle is taking out that the node management unit has registered its passage of the merge and which causes the vehicle to make its next successor, if any, its current successor.
  • this first vehicle When the vehicle has a current successor upon reaching the point of collision, this first vehicle sends a message to that current successor, that is, a second vehicle which causes the second vehicle to sweep the first vehicle as its current precursor and its "next Precursor "instead of making it his" current predecessor ".
  • the second carriage sends a message to the node management unit informing the node management unit that the first carriage passes the merge.
  • the node management unit then sends an acknowledgment message to the first carriage, causing the first carriage to cancel its current successor and, if present, to make its next successor its new current successor.
  • the vehicle V1 moves on the route section 166 toward the merge 164.
  • the vehicle V1 is not assigned a current successor.
  • the precursor list of the node management unit 192 associated with the merge 164 is empty.
  • the vehicle V1 Upon reaching the braking point (BP), the vehicle V1 sends a message (arrow 194) to the node management unit 192, with which the vehicle V1 logs on to the node management unit 192.
  • the node management unit 192 sends back an acknowledgment message (arrow 196) to the vehicle V1.
  • the vehicle V1 Upon reaching the collision point (CP), the vehicle V1 sends a message (arrow 198) to the node management unit 192, with which the node management unit 192 is displayed passing the merge 164 by the vehicle V1 ( Figure 11).
  • the node management unit 192 sends an acknowledgment message (arrow 200) to the vehicle V1.
  • the carriages V1 and V2 on the route section 168 move towards the merging 164.
  • the carriage V3 moves on the route section 166 to the merge 164.
  • the carriage V4 moves on the route section 170 away from the merge 164.
  • the carriage V2 is assigned to the vehicle V1 as the current successor. A next successor does not have the carriage V2.
  • the vehicle V3 is assigned neither a current predecessor nor a next precursor.
  • the vehicle V1 is assigned to the vehicle V2 as the current precursor.
  • the vehicle V1 does not have a next precursor.
  • the carriage V2 is registered, which has last registered with the node management unit 192 when passing the braking point in the route section 168.
  • the node management unit 192 sends to the carriage V2 a message (arrow 204), with which the carriage V3 the carriage V2 is displayed as the next successor.
  • the carriage V2 enters the vehicle V3 as its next successor and sends to the vehicle V3 an acknowledgment message (arrow 206), which causes the vehicle V3 enters the vehicle V2 as its next precursor.
  • the vehicle V2 reaches the collision point (CP) and therefore sends to its current successor, the vehicle V1, a message (arrow 208) which causes the vehicle V1 to drive the vehicle V2 as its current precursor to be deleted and replaced by the next precursor.
  • the vehicle V1 since the vehicle V1 is not assigned a next precursor, the vehicle V1 does not receive a new current precursor.
  • the vehicle V1 sends to the node management unit 192 a message (arrow 210), with which the node management unit 192 is informed that the vehicle V2 now changes to the route section 170.
  • the node management unit 192 sends an acknowledgment message (arrow 212) to the vehicle V2, which then sweeps the vehicle V1 as its current successor and instead enters its next successor, the vehicle V3, as its current successor and sweeps the vehicle V3 as its next successor , Thus, the initiated by reaching the collision point by the carriage V2 update process is completed.
  • the vehicle V1 moves on the route section 168 toward the merge 164.
  • the carriages V3 and V4 move on the link 166 to the merge 164.
  • the carriage V2 moves on the route section 170 away from the merge 164.
  • the carriage V3 of the carriage V4 is assigned as the current successor. A next successor is not assigned to the vehicle V3.
  • the carriage V2 is assigned to the carriage V3 as a current precursor. A next precursor is not assigned to the vehicle V3.
  • the carriage V4 of the carriage V3 is assigned as a current precursor. A next precursor is not assigned to the carriage V4.
  • the carriage V3 reaches the collision point in the track section 166 and then sends a message (arrow 214) to the vehicle V4, its current successor, which causes the vehicle V4 to drive the vehicle V3 as its current precursor to brush. Since the carriage V4 has no next precursor, he receives no new current precursor.
  • the carriage V4 sends to the node management unit 192 a message (arrow 216), with which the node management unit 192 is displayed that the carriage V3 now passes the merge 164.
  • the node management unit 192 sends an acknowledgment message (arrow 218) to the vehicle V3, which causes the vehicle V3 to delete the vehicle V4 as its current successor. Since the vehicle V3 has no next successor, he receives no new current successor.
  • the carriage V4 reaches the braking point (BP) and then sends a message (arrow 220) to the node management unit 192, with which the carriage V4 logs for passing the merge 164.
  • the carriage V3 is entered in the precursor list of the node management unit 192.
  • the node management unit 192 therefore sends a message (arrow 222) to the vehicle V3, with which the vehicle V3 is shown as the new next successor to the vehicle V3.
  • the carriage V3 enters the vehicle V4 as its new next successor and sends an acknowledgment message (arrow 224) over it to the vehicle V4, which then enters the vehicle V3 as its next precursor.
  • the carriage V4 reaches the braking point before the carriage V3 has reached the collision point. Therefore, in the situation illustrated in FIG. 16, the vehicle V3 is entered as the current forerunner of the vehicle V4 and the vehicle V4 as the current successor of the vehicle V3.
  • the carriage V4 Upon reaching the brake point, the carriage V4 sends a message (arrow 226) to the node management unit 192, with which the vehicle V4 logs on for passing the merge 164.
  • the vehicle V3 is entered, which is why the node management unit 192 transmits to the vehicle V3 a message (arrow 228) with which the vehicle V4 is displayed to the vehicle V3 as the new next successor.
  • the vehicle V3 enters the vehicle V4 as its next successor and sends to the vehicle V4 an acknowledgment message (arrow 230), which causes the vehicle V4 to enter the vehicle V3 as his new next predecessor.
  • the updating operations taking place with the involvement of a node management unit in passing a branch of the lane network of the transport system 100 correspond to the updating processes occurring when a merge passes, with the difference that the collision points (CP) in the case of the branch not in front, but in the direction behind the node that is, behind the branch, are that the node management unit for each of the branches leading lanes leads a separate precursor list, and that the carriages of the node management unit 192, when registering to pass the branch 178, at the same time specify in which of the sections leading away from the junction 178 they wish to enter.
  • CP collision points
  • a carriage when a carriage reaches the braking point in front of the branch, it sends to the branch management unit assigned to the branch a message with which the carriage registers for passing the branch and continuing on one of the continuing sections.
  • the node management unit sends back an acknowledgment message to the relevant carriage.
  • the node management unit sends to this second carriage a message which causes that second carriage to register the first carriage as its next successor and send an acknowledgment message to the first carriage which causes the first carriage to register the second carriage as its next precursor.
  • the first carriage is registered as the current successor to the second vehicle and deleted as the next successor of the second vehicle.
  • the second carriage is registered as the current precursor of the first vehicle and deleted as the next precursor of the first vehicle.
  • this first vehicle When the vehicle, after passing the junction, reaches the collision point (CP) on its new section, this first vehicle sends to its current successor a message which causes that second vehicle to delete the first vehicle as its current predecessor and, if present to make his next forerunner his current predecessor.
  • CP collision point
  • the second carriage sends a message to the node management unit, with which the node management unit is informed that the first carriage has passed the branch.
  • the node management unit then sends an acknowledgment message to the first carriage, which causes the first vehicle to sweep the second vehicle as its current successor and, if present, its next successor to its current successor.
  • the relevant trolley sends a message to the node management unit informing the node management unit that the relevant trolley has passed the branch.
  • the node management unit sends an acknowledgment message to the relevant carriage, which causes these vehicles to make its next successor, if any, its current successor.
  • the vehicle V6 reaches the braking point (BP) in the route section 180 and then sends to the node management unit 192 responsible for the branch 178 a message (arrow 232) informing the node management unit 192 that the vehicle V6 Pass branch 178 and change to section 184.
  • BP braking point
  • the node management unit 192 Since the vehicle V7 is on the other route section 182 and thus the predecessor list of the node management unit 192 for the route section 184 is empty, the node management unit 192 sends an acknowledgment message (arrow 234) directly to the vehicle V6.
  • the carriage V6 has passed the branch 178, has changed to the route section 184 and has exceeded the collision point (CP) there.
  • the carriage V6 since it has no current successor, sends a message (arrow 236) to the node management unit 192, with which the node management unit 192 is displayed that the carriage V6 has left the area of the branch 178.
  • the node management unit 192 sends an acknowledgment message (arrow 238) to the vehicle V6, which causes the vehicle V6 to make its next successor, if any, the current successor.
  • the carriage V4 of the carriage V5 is assigned as a current precursor.
  • the carriage V5 of the carriage V4 is assigned as the current successor.
  • the carriage V5 has exceeded the collision point (CP) in the link 184 and therefore sends to its current successor, the carriage V4, a message (arrow 240) which causes the vehicle V4 to drive the carriage To delete V5 as its current predecessor and its next precursor as his to enter current precursor. Since the carriage V4 but no next precursor is assigned, he receives no new current precursor.
  • the carriage V4 sends to the node management unit 192 a message (arrow 242), with which the node management unit 192 is informed that the carriage V5 has left the area of the branch 178.
  • the node management unit 192 sends an acknowledgment message (arrow 244) to the vehicle V5, which causes the vehicle V5 to delete the vehicle V4 as its current successor and, if present, to register its next successor as its current successor. However, since the carriage V5 is not assigned a next successor, the carriage V5 receives no new current successor.
  • the carriage V2 moves on the route section 180 to the junction 178, while the carriage V4 moves away from the junction 178 on the route section 182 and the vehicle V3 moves on the route section 184 from the junction 178 moved away.
  • the carriage V2 is the carriage V3 assigned as the current precursor, but no carriage as the next precursor. Further, the carriage V2 is a (not yet shown in Fig. 20) carriage V1 as the current successor, but no carriage assigned as the next successor.
  • the vehicle V3 is the carriage V2 as the current successor, but no vehicle is assigned as the next successor.
  • the carriage V4 is assigned neither a current successor nor a next successor.
  • the vehicle V2 reaches the braking point in the route section 180 and then sends to the node management unit 192 a message (arrow 246), with which the vehicle V2 for passing the branch 178 and the onward journey on the route section 182 logs.
  • the node management unit 192 Since in the precursor list of the node management unit 192 for the link 182, the vehicle V4 is registered, the node management unit 192 sends to the vehicle V4 a message (arrow 248) which causes the vehicle V4 to register the vehicle V2 as its next successor.
  • the carriage V2 Since the carriage V4 has no current successor, the carriage V2 is entered as the current successor to the vehicle V4 and deleted as the next successor to the vehicle V4.
  • the carriage V4 sends to the vehicle V2 an acknowledgment message (arrow 250), which causes the vehicle V2 to enter the vehicle V4 as its next precursor.
  • the vehicle V1 following the carriage V2 in the route section 180 has reached the braking point in the route section 180.
  • the vehicle V1 is assigned to the vehicle V2 as the current precursor.
  • the node management unit 192 Since in the precursor list of the node management unit 192 for the link 184, the vehicle V3 is registered, the node management unit 192 sends to the vehicle V3 a message (arrow 254), which causes the vehicle V3 to register the vehicle V1 as its next successor.
  • the carriage V3 sends to the vehicle V1 an acknowledgment message (arrow 256) which causes the vehicle V1 to register the vehicle V3 as its next precursor.
  • the vehicle V3 has exceeded the collision point (CP) on the route section 184, for which reason the vehicle V3 sends to its current successor, the vehicle V2, a message (arrow 258) which causes the vehicle V2 to do so to delete the vehicle V3 as its current predecessor and its next Forerunner to enter the vehicle V4, as its current predecessor, where the carriage V4 is also deleted as the next precursor of the carriage V2.
  • the carriage V2 sends to the node management unit 192 a message (arrow 260) indicating to the node management unit 192 that the carriage V3 has left the branching area.
  • the node management unit 192 sends to the vehicle V3 an acknowledgment message (arrow 262) which causes the vehicle V3 to delete the vehicle V2 as its current successor and to register its next successor, the vehicle V1, as its current successor, the vehicle V1 at the same time as the next successor is deleted.
  • the vehicle V0 is assigned to the vehicle V1 as a current precursor.
  • the node management unit 192 transmits to the vehicle V2 a message (arrow 266) which causes the vehicle V2 to register the vehicle V0 as its next successor.
  • carriage V2 sends to the carriage V0 an acknowledgment message (arrow 268) which causes the vehicle V0 to register the vehicle V2 as its next precursor.
  • the vehicle V2 therefore sends to its current successor, the vehicle V1, a message (arrow 270) which causes the vehicle V1 to delete the vehicle V2 as its current predecessor and its next precursor, the vehicle V3, as its current predecessor at the same time the carriage V3 is deleted as the next precursor of the trolley V1.
  • the vehicle V1 sends to the node management unit 192 a message (arrow 272), with which the node management unit 192 is informed that the carriage V2 has left the branch area.
  • the node management unit 192 sends to the vehicle V2 an acknowledgment message (arrow 274) which causes the vehicle V2 to delete the vehicle V1 as its current successor and instead to enter the next successor, the vehicle V0, as its current successor, at the same time the vehicle V0 is deleted as the next successor of the vehicle V2.
  • the vehicle V1 has exceeded the collision point (CP) on the route section 184.
  • the vehicle V1 therefore sends to its current successor, the vehicle V0, a message (arrow 276) which causes the vehicle V0 to delete the vehicle V1 as its current predecessor and instead its next precursor, the vehicle V2, as his enter the current precursor, wherein at the same time the carriage V2 is deleted as the next precursor of the carriage V0.
  • the vehicle V0 sends to the node management unit 192 a message (arrow 278), with which the node management unit 192 is informed that the vehicle V1 has left the branch area.
  • the node management unit 192 sends to the vehicle V1 an acknowledgment message (arrow 280), which causes the vehicle V1 to delete the vehicle V0 as its current successor and his next successor as new current successor. However, since the vehicle V1 is not assigned a next successor, the vehicle V1 does not receive a new current successor.
  • the vehicle V0 is not assigned a current successor, for which reason the vehicle V0 sends directly to the node management unit 192 a message (arrow 282) informing the node management unit 192 that the vehicle V0 has left the branch area.
  • the node management unit 192 sends to the carriage V0 an acknowledgment message (arrow 284) which causes the vehicle V0 to cancel its current successor and to register its next successor as a new current successor; while at the same time the next successor is deleted.
  • the junctions 164 and lanes 178 of the lane network of the transport system 100 are implemented by so-called “active switches”, where an “active switch” is understood to mean a switch with movable rail sections, in contrast to a “passive switch” in which all the rail sections are stationary and the rail section to be traveled by a trolley is selected by switching over a guide device provided on the trolley.
  • An active switch for a monorail is, for example, from DE 33 02 266 C2 known.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
EP03769373A 2002-10-30 2003-10-10 Spurgeführtes transportsystem und verfahren zum steuern von fahrwagen eines spurgeführten transportsystems Expired - Lifetime EP1556266B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10250545 2002-10-30
DE10250545 2002-10-30
PCT/EP2003/011243 WO2004039650A1 (de) 2002-10-30 2003-10-10 Spurgeführtes transportsystem und verfahren zum steuern von fahrwagen eines spurgeführten transportsystems

Publications (2)

Publication Number Publication Date
EP1556266A1 EP1556266A1 (de) 2005-07-27
EP1556266B1 true EP1556266B1 (de) 2008-01-02

Family

ID=32185287

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03769373A Expired - Lifetime EP1556266B1 (de) 2002-10-30 2003-10-10 Spurgeführtes transportsystem und verfahren zum steuern von fahrwagen eines spurgeführten transportsystems

Country Status (16)

Country Link
US (2) US20050247231A1 (pt)
EP (1) EP1556266B1 (pt)
JP (1) JP2006503753A (pt)
KR (1) KR100739442B1 (pt)
CN (1) CN100588579C (pt)
AT (1) ATE382533T1 (pt)
AU (1) AU2003278068B2 (pt)
BR (1) BRPI0306666B1 (pt)
CA (1) CA2501310C (pt)
DE (1) DE50308942D1 (pt)
ES (1) ES2295654T3 (pt)
MX (1) MXPA05004719A (pt)
PT (1) PT1556266E (pt)
RU (1) RU2337034C2 (pt)
WO (1) WO2004039650A1 (pt)
ZA (1) ZA200503020B (pt)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE50308942D1 (de) * 2002-10-30 2008-02-14 Duerr Systems Gmbh Spurgeführtes transportsystem und verfahren zum steuern von fahrwagen eines spurgeführten transportsystems
DE10348259A1 (de) * 2003-10-16 2005-05-12 Duerr Automotion Gmbh Spurgeführtes Transportsystem
JP4375253B2 (ja) * 2005-02-25 2009-12-02 株式会社日立製作所 信号保安システム
US9014965B2 (en) * 2007-08-30 2015-04-21 Universal City Studios Llc Virtual omnimover
KR100986837B1 (ko) * 2008-04-29 2010-10-08 한국철도기술연구원 화물 이송장치
US20110218697A1 (en) * 2008-11-24 2011-09-08 Automate Ltd. Vehicle, system and method for mass transit transportation
US9308926B2 (en) * 2008-12-29 2016-04-12 Universal City Studios Llc Position control system
KR101035656B1 (ko) * 2009-10-07 2011-05-19 현대로템 주식회사 모노레일 시스템의 제어장치
DE102011081993A1 (de) * 2011-09-01 2013-03-07 Siemens Aktiengesellschaft Haltezeitberechnungsmodul
CN104590318B (zh) * 2014-12-23 2016-10-19 葛大力 一种轨道车道岔合并调度系统和调度方法
KR101700814B1 (ko) * 2015-05-06 2017-02-01 한국철도기술연구원 열차 대 열차 기반의 열차중심 열차제어 시스템 및 그 방법
EP3184400A1 (en) * 2015-12-22 2017-06-28 Televic Rail NV System and method for providing information to an information system in a vehicle
KR101769441B1 (ko) 2016-06-27 2017-08-21 한국철도기술연구원 열차간 연결기반 열차제어시스템에서 인접열차 탐색 및 atp 핸드오버 방법
CN106323289A (zh) 2016-08-23 2017-01-11 北京小米移动软件有限公司 平衡车的控制方法及装置
JP7091040B2 (ja) * 2017-09-07 2022-06-27 株式会社ダイフク 搬送システム
CN108005671A (zh) * 2017-12-07 2018-05-08 三重型装备有限公司 钻装机转载设备及钻装机组

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3854408A (en) * 1973-03-05 1974-12-17 R Miller Traffic network system
DE3302266C2 (de) 1983-01-25 1986-01-30 Dürr Automation + Fördertechnik GmbH, 7889 Grenzach-Wyhlen Weiche für eine Einschienenhängebahn
US4864306A (en) * 1986-06-23 1989-09-05 Wiita Floyd L Railway anticollision apparatus and method
GB8620002D0 (en) * 1986-08-16 1986-09-24 Westinghouse Brake & Signal Communicating vital control signals
US5533695A (en) * 1994-08-19 1996-07-09 Harmon Industries, Inc. Incremental train control system
TW279960B (pt) * 1994-09-23 1996-07-01 Traffic Object Supervision Systems
DE19512107B4 (de) 1995-04-03 2007-06-28 Daimlerchrysler Ag Spurgeführtes Transportsystem mit berührungsloser Energieübertragung
IL118283A (en) * 1995-06-07 2000-06-29 Gen Electric Tracking system for assets subject to movement
JP3633707B2 (ja) * 1996-03-08 2005-03-30 日産ディーゼル工業株式会社 車群走行制御装置
US6135396A (en) * 1997-02-07 2000-10-24 Ge-Harris Railway Electronics, Llc System and method for automatic train operation
DE19712107A1 (de) 1997-03-22 1998-09-24 Hans Dr Polz Verfahren und Vorrichtung zur Erfassung von diagnostisch verwertbaren, dreidimensionalen Ultraschallbilddatensätzen
US5950966A (en) * 1997-09-17 1999-09-14 Westinghouse Airbrake Company Distributed positive train control system
DE19828878A1 (de) * 1998-06-23 1999-12-30 Siemens Ag Verfahren zur Datenreduktion im Bahnbetrieb
DE10039946C1 (de) 2000-08-16 2002-04-11 Eisenmann Kg Maschbau Elektrohängebahn
US6810817B1 (en) * 2001-02-23 2004-11-02 William James Intelligent transport system
US6666411B1 (en) * 2002-05-31 2003-12-23 Alcatel Communications-based vehicle control system and method
DE50308942D1 (de) 2002-10-30 2008-02-14 Duerr Systems Gmbh Spurgeführtes transportsystem und verfahren zum steuern von fahrwagen eines spurgeführten transportsystems
JP4375253B2 (ja) * 2005-02-25 2009-12-02 株式会社日立製作所 信号保安システム

Also Published As

Publication number Publication date
CN1692049A (zh) 2005-11-02
AU2003278068B2 (en) 2009-11-05
KR100739442B1 (ko) 2007-07-13
DE50308942D1 (de) 2008-02-14
MXPA05004719A (es) 2005-08-03
ZA200503020B (en) 2006-06-28
US20060255210A1 (en) 2006-11-16
BRPI0306666B1 (pt) 2016-11-16
ATE382533T1 (de) 2008-01-15
US20050247231A1 (en) 2005-11-10
RU2005116673A (ru) 2006-01-27
WO2004039650A1 (de) 2004-05-13
ES2295654T3 (es) 2008-04-16
AU2003278068A1 (en) 2004-05-25
PT1556266E (pt) 2008-01-24
US7182298B2 (en) 2007-02-27
CN100588579C (zh) 2010-02-10
CA2501310C (en) 2010-08-10
CA2501310A1 (en) 2004-05-13
JP2006503753A (ja) 2006-02-02
KR20050067427A (ko) 2005-07-01
BR0306666A (pt) 2004-12-07
RU2337034C2 (ru) 2008-10-27
EP1556266A1 (de) 2005-07-27

Similar Documents

Publication Publication Date Title
EP1556266B1 (de) Spurgeführtes transportsystem und verfahren zum steuern von fahrwagen eines spurgeführten transportsystems
EP2013065B1 (de) Aktives schienengebundenes transportsystem
EP0958987B1 (de) Verfahren zum Betrieb von Schienenfahrzeugen sowie Zugsteuerzentrale hierfür
DE19509696C2 (de) Verfahren zur gegenseitigen Kontaktaufnahme zwischen Zügen und Einrichtung zur Durchführung des Verfahrens
DE69307494T3 (de) Eisenbahnanmeldeanlage
WO2015180902A1 (de) Fahrerlaubnis für ein schienenfahrzeug
DE4406720C2 (de) Zugsicherungssystem
DE2215442A1 (de) Fahrzeugsteuerungssystem
WO1999067117A2 (de) Verfahren zur datenreduktion im bahnbetrieb
DE2216284A1 (de) Beförderungsanlage mit passiven Wagen
WO2002002385A1 (de) Fahrdatengewinnungs-, -übermittlungs- und -ausgabesystem
EP1931550B1 (de) Verfahren zum betreiben einer eisenbahnstrecke
DE19529374A1 (de) Verfahren zur Einbindung von Bahnübergängen in die automatische Steuerung und Sicherung von Schienenfahrzeugen
EP3978328A1 (de) Verfahren zum betrieb einer seilbahnanlage und seilbahnanlage betrieben mit diesem verfahren
DE3445115A1 (de) Anordnung zur vereinfachung und verbesserung der zugfahrtsicherung
DE68921177T2 (de) Transportanlage mit automatischer Steuerung der Fahrzeugbewegung.
DE2254799A1 (de) Anordnung zur abstandsicherung zwischen zwei aufeinanderfolgenden objekten
DE19902398C2 (de) Elektrohängebahn
DE1605393A1 (de) Automatisches Regelsystem fuer Fahrzeuge
EP0864478B2 (de) Verfahren zur Steuerung spurgebundener Fahrzeuge sowie Fahrzeugrechner und Fahrzeugsteuerungssystem hierfür
DE2108539A1 (de) Transporteinrichtung
DE1438782B2 (de) Verfahren zur steuerung von spurgebundenen zuegen, insbesondere eisenbahnzuegen
DE2107672C3 (de) System zum selbsttätigen Zielbremsen von Schienenfahrzeugen unterschiedlicher Länge unter Berücksichtigung eines von mehreren Zielpunkten jeder Station von Nahverkehrsbahnen
DE102022111772A1 (de) Verfahren zum betreiben eines schienenfahrzeugs mit mindestens einer steuerbaren kupplung an einem fahrzeugende
DE102019217062A1 (de) Zweiwegefahrzeug mit elektronischer Deichsel

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: 20050407

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PT RO SE SI SK TR

AX Request for extension of the european patent

Extension state: AL LT LV MK

DAX Request for extension of the european patent (deleted)
GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: DUERR SYSTEMS GMBH

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PT RO SE SI SK TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: PT

Ref legal event code: SC4A

Free format text: AVAILABILITY OF NATIONAL TRANSLATION

Effective date: 20080114

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REF Corresponds to:

Ref document number: 50308942

Country of ref document: DE

Date of ref document: 20080214

Kind code of ref document: P

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2295654

Country of ref document: ES

Kind code of ref document: T3

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

Ref country code: SI

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: 20080102

Ref country code: NL

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: 20080102

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

Ref country code: FI

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: 20080102

ET Fr: translation filed
PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

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: 20080402

REG Reference to a national code

Ref country code: IE

Ref legal event code: FD4D

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

Ref country code: IE

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: 20080102

Ref country code: SE

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: 20080402

Ref country code: DK

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: 20080102

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: RO

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: 20080102

26N No opposition filed

Effective date: 20081003

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 FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20080102

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

Ref country code: EE

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: 20080102

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

Ref country code: MC

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

Effective date: 20081031

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

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

Ref country code: CY

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: 20080102

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

Ref country code: LI

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

Effective date: 20081031

Ref country code: CH

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

Effective date: 20081031

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

Ref country code: AT

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

Effective date: 20081010

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

Ref country code: LU

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

Effective date: 20081010

Ref country code: HU

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: 20080703

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

Ref country code: TR

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: 20080102

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

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: 20080403

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

Ref country code: PT

Payment date: 20101007

Year of fee payment: 8

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

Ref country code: BE

Payment date: 20101013

Year of fee payment: 8

REG Reference to a national code

Ref country code: PT

Ref legal event code: MM4A

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

Effective date: 20120410

BERE Be: lapsed

Owner name: DURR SYSTEMS G.M.B.H.

Effective date: 20111031

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

Ref country code: BE

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

Effective date: 20111031

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

Ref country code: PT

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

Effective date: 20120410

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 50308942

Country of ref document: DE

Representative=s name: HOEGER, STELLRECHT & PARTNER PATENTANWAELTE MB, DE

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 13

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 14

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 50308942

Country of ref document: DE

Representative=s name: HOEGER, STELLRECHT & PARTNER PATENTANWAELTE MB, DE

Ref country code: DE

Ref legal event code: R081

Ref document number: 50308942

Country of ref document: DE

Owner name: DUERR SYSTEMS AG, DE

Free format text: FORMER OWNER: DUERR SYSTEMS GMBH, 74321 BIETIGHEIM-BISSINGEN, DE

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 15

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 16

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 50308942

Country of ref document: DE

Representative=s name: HOEGER, STELLRECHT & PARTNER PATENTANWAELTE MB, DE

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

Ref country code: CZ

Payment date: 20201005

Year of fee payment: 18

Ref country code: FR

Payment date: 20201021

Year of fee payment: 18

Ref country code: ES

Payment date: 20201224

Year of fee payment: 18

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

Ref country code: SK

Payment date: 20201007

Year of fee payment: 18

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

Ref country code: DE

Payment date: 20211020

Year of fee payment: 19

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

Ref country code: IT

Payment date: 20211021

Year of fee payment: 19

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

Ref country code: CZ

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

Effective date: 20211010

REG Reference to a national code

Ref country code: SK

Ref legal event code: MM4A

Ref document number: E 3242

Country of ref document: SK

Effective date: 20211010

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

Ref country code: SK

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

Effective date: 20211010

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

Ref country code: FR

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

Effective date: 20211031

REG Reference to a national code

Ref country code: ES

Ref legal event code: FD2A

Effective date: 20221128

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

Ref country code: ES

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

Effective date: 20211011

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 50308942

Country of ref document: DE

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: 20230503

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 NON-PAYMENT OF DUE FEES

Effective date: 20221010