EP1894882A2 - Procédé de protection et de commande pour grue - Google Patents

Procédé de protection et de commande pour grue Download PDF

Info

Publication number
EP1894882A2
EP1894882A2 EP07014608A EP07014608A EP1894882A2 EP 1894882 A2 EP1894882 A2 EP 1894882A2 EP 07014608 A EP07014608 A EP 07014608A EP 07014608 A EP07014608 A EP 07014608A EP 1894882 A2 EP1894882 A2 EP 1894882A2
Authority
EP
European Patent Office
Prior art keywords
cranes
load
motion vectors
control system
crane
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.)
Granted
Application number
EP07014608A
Other languages
German (de)
English (en)
Other versions
EP1894882B1 (fr
EP1894882A3 (fr
Inventor
Klaus Schneider
Martin Rajek
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.)
Liebherr Werk Nenzing GmbH
Original Assignee
Liebherr Werk Nenzing GmbH
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 Liebherr Werk Nenzing GmbH filed Critical Liebherr Werk Nenzing GmbH
Publication of EP1894882A2 publication Critical patent/EP1894882A2/fr
Publication of EP1894882A3 publication Critical patent/EP1894882A3/fr
Application granted granted Critical
Publication of EP1894882B1 publication Critical patent/EP1894882B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical

Definitions

  • the present invention relates to a safety and control method for lifting and / or transporting a common load with a plurality of cranes. So far, such a lifting or transporting operation for large, heavy or complex loads, in which several cranes must be used, usually carried out via an instructor. Each of the participating cranes is controlled by a crane driver, with the instructor coordinating all the crane drivers involved. This naturally results in a lot of error potentials, not least because the individual crane drivers have no overview of the overall situation and communication and communication problems can lead to errors. Also, such a procedure is not very effective, since the necessary coordination over the instructor allows only a very slow work.
  • Object of the present invention is therefore to be able to perform the lifting and / or transporting a common load with a plurality of cranes safer and more effective.
  • this object is achieved by a securing method for lifting and / or transporting a common load with a plurality of cranes according to claim 1.
  • This method includes determining possible damage events for motion vectors of the cranes and activating a warning function when predetermined motion vectors result in damage events and / or restricting the motion vectors used to drive the cranes to those motion vectors that do not cause damage events in any of the cranes.
  • the individual cranes can continue to be operated by one crane driver each, but the motion vectors predetermined by the crane drivers are checked by the safety method of the present invention to determine whether they lead to damage events. If a motion vector given by the crane operators leads to a damage event on any of the cranes, either a warning function is activated which warns the crane driver of the impending damage event when the movement is being carried out. But it can also be an automatic limitation of the motion vectors used to control the cranes be carried out so that movements that would lead to damage events, not even executed.
  • the securing method according to the invention can also be used within a control method for the cranes.
  • the control method which motion vectors are available for safe control of the cranes.
  • the control system can select the most appropriate one of these motion vectors to achieve the desired motion.
  • a motion vector of the cranes represents a data record which contains information for the control of all cranes.
  • the damage events which are determined in the securing method according to the invention, comprise at least one overload of the cranes. This ensures that no movements of the cranes are carried out, which would lead to an overload of one of the cranes.
  • the individual load torque limitations of the cranes could only determine whether a movement leads to an overload on his own crane, it is ensured by the safety system according to the invention, that it does not in any other crane with a movement of a crane Overload comes.
  • possible overloads can be determined via the load torque limits assigned to the respective crane. It can therefore be used in the method according to the invention certainly on existing load torque limits. However, it will not just be the movement of an individual Crane is checked by its own load torque limit, but it is the motion vector of all cranes checked by the load torque limits of all cranes. Thus, on the one hand, existing technology can be used, but on the other hand, the security of the common hub or transport can be considerably better protected by a plurality of cranes.
  • the existing load torque limits do not necessarily have to be arranged at the individual cranes. Rather, a central processing unit is conceivable in which the individual cranes associated load torque limits are implemented.
  • the allowable motion vectors are determined by a predictive calculation in the backup method according to the invention. This not only checks whether a current movement leads directly to a damage event, but also whether a future movement could provoke a future damage event. In particular, it is advantageously taken into account that only those motion vectors are permissible in which a movement sequence is available which does not lead to damage events. Such a forward-looking calculation is particularly important because in a common stroke or transport by a plurality of cranes there may be situations in which all movements of the cranes would lead to a damage event in at least one of the involved cranes. Such situations, from which the entire system can no longer be maneuvered out safely, on the other hand are prevented by the predictive calculation of the security method according to the invention.
  • the permissible motion vectors are determined by an iterative method.
  • it can be reliably and reliably determined whether a first motion vector permits later motion vectors, which are free from damage events are. This can ensure that there is always a damage-free motion sequence available.
  • the control of the cranes with a first motion vector can be simulated, and from the resulting new situation a further movement with a new motion vector can be simulated and so on, so that a chain of permissible motion vectors results.
  • an iterative method can already be used in the individual steps, so that the safety of a first crane is first checked to determine permissible motion vectors, whereupon the permissibility for the next crane is checked for the vectors permissible there, and so on.
  • the possible damage events include a collision of the cranes with one another.
  • the safety system according to the invention that the several cranes, which indeed act in the same area, do not collide with each other.
  • the influence of the movements of all cranes is taken into account, so that the security against known anti-collision systems, in which only the movement of a single crane can be taken into account, massively increased.
  • the possible damage events include a collision of the cranes with the load. This ensures that even with the lifting or transport of complex loads by multiple cranes, the cranes do not collide with the load.
  • the inventive consideration of the movement of all cranes is necessary because the movement of a crane can move the load so that it collides with another crane, without this would have moved.
  • determining the possible collisions is advantageously based at least on a geometric model of the cranes and possibly the load.
  • a geometric model includes z. B. data about the cranes such as the boom length, height, etc and can this Combine crane data together with position data such as the angle of rotation and rocking angle advantageously to a three-dimensional model of the cranes and the load, so that in the geometric model, the actual stroke situation can be realistically simulated.
  • position data such as the angle of rotation and rocking angle
  • geometry data of the load can be entered and / or determined in the safety method according to the invention.
  • a reliable geometric model of the load can be created, making the anti-collision test of the security method according to the invention even more reliable.
  • the position and / or extent of the load can advantageously be determined via the positions of the load receptacles of the cranes.
  • geometric data of possible interfering objects can be input and possible collisions of the cranes and / or the load with the interfering objects can be calculated. In this way, realistic scenarios of the stroke or transport can be created, in which also disturbing objects such. B. buildings can be considered.
  • the calculation of the possible collisions is based on a geometric model of the cranes, the load and / or the disturbing objects.
  • This geometric model thus represents a scenario in three dimensions, in which possible collisions of the cranes, the load and / or the disturbing objects are determined.
  • the possible damage events include limit overruns of the momentum sum of the cranes.
  • the moments of the cranes can add up so that it comes to dangerous situations such as overloads on the platform or excessive heeling of the ship.
  • the system according to the invention also checks whether Motion vectors of the cranes lead to limit exceedings of the momentum of the cranes, such problems can be avoided.
  • the possible damage events include limit overruns for external constraints such.
  • possible damage events are identified in a forward-looking calculation, taking into account their possible prevention.
  • it is checked whether with this motion vector another motion sequence is possible, which is free from damage events.
  • motion sequences can be checked up to standstill.
  • the predictive calculations are made on the basis of the dynamic properties of the cranes, in particular the maximum possible speeds and / or accelerations of the crane drives.
  • the consideration of the dynamic properties of the cranes is of great importance, since of course only those movements actually remain realistic without damage, which can be performed by the cranes actually.
  • the motion vectors of the cranes used in the calculation include only those motion vectors which lie within the maximum possible speeds and / or accelerations of the crane drives.
  • a motion vector of the cranes advantageously comprises data on the speeds and / or accelerations of each individual crane drive of all cranes, so that a restriction of the motion vectors to the actual feasible motion vectors is easily feasible.
  • a motion vector of the cranes may also contain higher level data, such as: As the movement and / or acceleration of the boom tip, which must be translated into movements and / or accelerations of the crane drives. It should be noted, however, that such data at a higher level such. B. a certain speed and acceleration of the crane jib tip by different movements of the crane drives can be possible, so that these motion vectors at a higher level may correspond to a plurality of motion vectors at the lowest level.
  • the deformation of the cranes is taken into account in the securing method according to the invention.
  • the actual movement process can be more realistic in the system, which increases security.
  • the warning function includes an automatic shutdown of the cranes.
  • the movements may be limited only in the direction that would lead to a damage event.
  • safety distances to the possible damage events can be selected in the safety system according to the invention.
  • the safety of the system can be further increased by ensuring that the motion vectors used to control the cranes only lead to the situation which has a certain safety margin to damage events.
  • a safety distance can be a spatial distance between the cranes with one another or with the load or interfering objects, which must not be undershot. For other damage events such. B. overloading is ensured so that all cranes in one Be moved range in which they still have a certain safety margin from their respective overloads.
  • the cranes are movable in the securing method according to the invention, wherein they have means for determining their position, in particular GPS devices.
  • the backup method according to the invention is thus suitable for a variety of cranes such. As mobile cranes, crawler cranes or other mobile cranes can be used.
  • the means for determining the position of the individual cranes then ensure that the safety system knows the individual positions of the cranes and thus can reliably determine damage events.
  • the present invention further includes a security system for operating a plurality of cranes according to one of the backup methods described above.
  • a security system in which the above-mentioned security methods are implemented, has the same advantages as the methods described above.
  • Such a security system usually comprises an arithmetic unit on which the security procedure automatically, in particular during the operation of the cranes, ie during the stroke or transport of the common Load through the multiple cranes, is performed.
  • Such an automated security system has the great advantage that it checks the movements of all cranes and includes in the calculation, whereby also occurring only during the actual use of the crane influences can be taken into account by the security system according to the invention.
  • the present invention is not limited to a mere backup system. Rather, it can also be implemented in a control system for multiple cranes.
  • the present invention therefore also comprises a control system for lifting and / or transporting a common load with a plurality of cranes, with input means for specifying a desired movement of the load or cranes and at least one arithmetic unit for determining possible damage events for motion vectors of the cranes, wherein the motion vectors used to drive the cranes are limited to those motion vectors that do not cause damage events in any of the cranes.
  • a control system has the same advantages as the backup systems described above, in which case the control system automatically takes over the backup.
  • the control system can thus also encompass all of the other features of the security systems described above.
  • a single source is used to specify the desired movement of the load or cranes. This means that all cranes can be centrally controlled.
  • the movement of the load is predetermined by the single source, so that the crane operator is completely focused on the movement of the load Load while the control system controls the individual cranes.
  • control system determines possible motion vectors of the cranes or the load on the basis of the dynamic properties of the cranes, in particular the maximum possible speeds and / or accelerations of the crane drives.
  • those motion vectors are allowed for control, which can actually be performed by the corresponding crane drives.
  • this is in the specification of the desired movement of the load of great importance. This ensures that the crane operator can only specify those movements of the load, which are also feasible.
  • the specification of the desired load movement while the desired load position, the desired direction of movement and / or the desired orientation of the load It is usually entered by the crane operator a direction, a position or a rotation of the load movement.
  • the motion vector of the load usually has considerably fewer degrees of freedom than the motion vector of the cranes, since a plurality of cranes are present and these have a plurality of drives.
  • boundary conditions such. B. a certain position of the articulation points to the load and thus a certain position of the articulation points of the cranes are respected each other, as well as the given by the security system boundary conditions, however, this still often results in several ways, for example, a certain direction of movement of the load by movements of the cranes implement.
  • the control system according to the invention can therefore select from the possible and permissible motion vectors the motion vectors actually used for the control of the cranes by certain strategies.
  • the motion vectors used to control the cranes are selectable, weightable and / or predetermined strategies selected. If strategies are specified, the crane operator can choose between the individual strategies depending on the situation or, if necessary, weight them among each other.
  • the strategies include a slightest deviation from the specifications for the desired movement.
  • this strategy ensures that the permissible motion vectors are used to drive the crane drives, which only minimally deviates from the actual movement of the load and / or cranes desired generated.
  • the strategies may include at least one of the following: Increasing the security distances from the security system, blocking a plant, or assigning priorities to individual plants. Increasing the safety distances from the safety system leads to a particularly safe lifting or transport of the load. By blocking individual plants or assigning priorities to individual plants, on the other hand, the effectiveness of the control system can be increased.
  • control system between a specification of a desired movement of the load and the specification of a desired movement of the individual cranes can be selected in particular from a single source. So especially for driving the cranes over the load Each crane is individually controlled by the crane operator to position the crane over the load. Then it can be switched to another mode of operation, in which only the movement of the load is specified, so that the crane operator from now on must concentrate entirely on the movement of the load and not on the control of the individual cranes.
  • the cranes are controlled so that a once set distance between the suspension points of the load on the individual cranes during the load movement is not changed.
  • the suspension points of the cranes must thus only once correctly over the load, such. B. be positioned over a cross member, whereupon the crane control automatically ensures that during the process of the load, the distance between the suspension points remains constant.
  • the cranes can be controlled so that a once set orientation of the load is not changed during the load movement.
  • the crane operator must therefore only specify the direction of movement of the load.
  • the cranes can advantageously be controlled so that a desired orientation of the load is approached during the load movement.
  • the crane operator specifies the desired rotation of the load.
  • the position and / or orientation of the load in the control system according to the invention can be determined by determining the position of the cranes over the load.
  • the crane operator only has to correctly position the cranes over the load, whereupon the control system according to the invention knows at the touch of a button how the load is aligned and how big it is. So must the absolute distance z. B. the suspension points are no longer entered by hand, but can be determined by the distance of the suspension points on the cranes.
  • the specification of the desired movement online via an input device such. B. made a joystick. This way, the crane driver always has control over the movement of the cranes or the load.
  • the specification of the desired movement also offline via a crane crew z. B. done by adopting a stored trajectory.
  • the insert can thus be planned in advance at the crane application planner and stored in a corresponding file.
  • the cranes can then be activated during actual use.
  • the crane operator can also intervene online via an input device for security purposes.
  • the present invention further comprises a control method for lifting and / or transporting a common load with a plurality of cranes, comprising the steps of: specifying a desired movement of the load or cranes, and determining possible damage events for motion vectors of the cranes, wherein the Control of the cranes used motion vectors are limited to those motion vectors, which do not lead to damage events in any of the cranes.
  • the control method according to the invention has the same advantages as the control system described above.
  • control method according to the invention comprises the features of the control systems or the safety methods as described above.
  • the present invention further comprises a control method for lifting and / or transporting a common load with a plurality of cranes, the permissible motion vectors for controlling the cranes being determined on the basis of a securing method, in particular according to one of the securing methods described above.
  • a safety strategy results in order to avoid these dangers, which results in particular in the consideration of safety-relevant data of all cranes involved in the lifting or transport.
  • the data of the individual cranes are recorded and are thus available to the safety systems. For this purpose, it is possible to fall back on the measuring systems already present on the cranes, for example for the LBM and the drive control.
  • the data on the cranes then consists of the positions, speeds and accelerations of the individual crane drives or the positions, speeds and accelerations of the cranes or crane parts such as the boom. Likewise, data on the load can be determined.
  • the safety system according to the invention can determine possible damage events for motion vectors of the cranes.
  • a motion vector represents a data record which describes the movement of all cranes.
  • the motion vectors can either be specified by the crane operators themselves by operating the control of the cranes. Alternatively, however, these motion vectors can also represent possible motion vectors, which are checked in a crane control to determine whether they lead to damage events.
  • the safety system of the present invention responds to the detection of a possible damage event by the predetermined movement by activating at least one warning function. This alert warns the crane operators to continue with the intended movement.
  • the safety system of the present invention has the great advantage that every crane operator over Possible damage events for all other cranes are also automatically informed by the security system. To increase safety, when a possible damage event is detected, it can also be automatically prevented by either stopping the movement of all cranes or at least limiting movement to those directions that do not result in a damage event.
  • the permissible motion vectors of the cranes are determined according to the present invention by a predictive calculation. Such predictive calculation is particularly important in avoiding the cranes being maneuvered into positions that they can not leave without causing damage events to any of the cranes.
  • the permissible motion vectors, which do not lead to such a situation are thereby determined by an iterative method. During such an iterative process so z. B. first be checked whether a particular motion vector in any of the cranes leads to damage events, whereupon must continue to be checked, whether after driving the cranes with this motion vector again motion vectors are possible, which do not lead to damage events in any of the cranes and so on.
  • a valid vector can be determined by first determining the allowable vectors for a crane, then checking them for the next crane, and so on.
  • the safety system according to the invention can also be used in a control system.
  • either all cranes can be controlled by a single source to specify the desired load movement or the desired movement of the cranes.
  • the system can only serve to monitor and limit these movements with a separate specification of the desired movement of each individual crane.
  • the securing method of the present invention can now be used in such a crane control to dynamically restrict the motion vectors used to drive the cranes.
  • each crane limits the amount of available motion vectors available.
  • the resulting limited amount of motion vectors, which do not lead to damage events in any of the cranes, can then be used to safely control the cranes.
  • the influencing factors which restrict the motion vectors are in particular an anti-collision control, the load moment limitation (LMB) of the individual cranes and the consideration of the limitation of external systems. These influencing factors will now be described in more detail.
  • a three-dimensional interference check can take place. This makes it possible to secure even complicated movements, which would no longer be possible in a two-dimensional collision check.
  • such a three-dimensional collision test is important in complex loads, so that a possible collisions of the load with the cranes or with interfering objects are taken into account.
  • a three-dimensional model of both the cranes and the load and, if appropriate, the disturbing objects is used.
  • the movement of the load also depends on the movement of all cranes
  • three-dimensional models of all cranes and the load must be used for an effective anti-collision test when lifting and / or transporting a common load with multiple cranes.
  • any safety distance can still be used as a protection area around the objects in order to further increase safety.
  • This anti-collision device can also be active when using a single crane.
  • the LMBs already present for the individual cranes can be used, so that the overloads determined by the individual LMBs for a motion vector limit the amount of permissible motion vectors.
  • a predictive calculation by an iterative method is used.
  • either the already existing LMBs of the individual cranes can be used, but these LMBs can also be implemented in a central computer system.
  • movements can be prevented from the outset, which would lead to a shutdown of the cranes due to the LMBs.
  • the security method according to the invention ensures that these systems are protected.
  • the crane operator only has to specify the desired load movement.
  • the specification of the desired load movement or the desired spatial position of the load can either online z. B. via a joystick or offline via a rail planning z. B. be generated by transferring the trajectories from a file of a crane dispatch planner.
  • the movement sequence of the load has six degrees of freedom, of which three correspond to the translations and three to the rotations.
  • the rotations can be entered by any virtual point, with up to three directions being possible, depending on the number of cranes and load-handling devices.
  • the angular range of the rotational movement is usually geometrically and physically limited because the cranes are not arbitrarily movable over each other and also the load can not be tilted arbitrarily.
  • the rotation axis can be freely defined in the control system of the present invention.
  • a e.g. given load direction can usually be possible by many different motion vectors of the cranes, of which none leads to a damage event. This is because the cranes have a greater number of degrees of freedom z. B. about their luffing and turning and possibly have their landing gear.
  • the safety and control system according to the invention is designed in particular for rocker cranes, which are particularly well suited to the common lifting and transport of a load by multiple cranes. To select the motion vectors and thus the sequence of movements, which is used to control the cranes, there are now several predefined strategies available from which can be selected or which can be provided with priorities. As strategies are z.
  • FIGS. 2 to 5 show a tandem crane, which consists of two permanently mounted Drehwippkranen, as he z. B. can be mounted on ships.
  • the cranes have both via a slewing gear and a luffing mechanism for the boom as well as a hoist with which the rope length can be changed.
  • the two cranes are used to lift or transport a load together, eg by means of a crossbeam.
  • the direction of movement of the load via the direction of the joystick is set online, while the cranes are controlled so that the orientation of the load during the parallel movement is not changed.
  • the jibs of both cranes In order to move from position 1 to position 2 along the direction given by the joystick, the jibs of both cranes must be swung open and the cranes rotated in opposite directions. The luffing of the boom and the rotation of the two cranes is coordinated so that the load does not rotate. In order to avoid tilting of the load, the cable length must be adjusted accordingly in order to keep the load in the horizontal.
  • the reference point for the movement in this operating mode is either the jib tip of the own crane or the load center point.
  • the protection system according to the invention which comprises a dynamic anti-collision device. This prevents the collision of the cranes with each other and a collision of the cranes with the load. Free movement is possible as long as no collision can occur.
  • the control is thus based on a predictive calculation of the robot movement, which takes into account the anti-collision distance and the dynamics of all cranes. If necessary, the calculations can be carried out in parallel in all cranes so that each crane executes braking maneuvers when a collision is detected.
  • the motion vectors used to drive the cranes are limited in the appropriate direction to prevent a collision.
  • a three-dimensional anti-collision test is performed based on a corresponding three-dimensional geometric model of the cranes and the load.
  • an anticollision vector as well as intersection points for a future movement are calculated. If a future collision is detected, the master switching signal or the motion vector of the cranes is limited in the direction of the expected collision. However, the movement is only braked in the direction that would lead to a collision. The same integration times / ramps are used for anti-collision as for normal operation.
  • Figure 5 shows an operating mode in which crane 1 or crane 2 can be controlled separately, which is used in particular for receiving the load or for positioning the cranes on the load.
  • crane 2 is controlled from the cab of crane 1.
  • Crane 2 is thereby controlled that the default for the movement of the crane tip of crane 2 is issued by the position of the master switch in crane 1.
  • the crane control then translates this specification into a corresponding control of the luffing and luffing mechanism of crane 2.
  • About this separate control of the cranes and the truss length can be set at the time of the preselection of tandem operation.
  • the cranes are moved to the appropriate positions above the traverse, whereupon the positions of the cranes can be detected and stored by pressing a button.
  • the truss length can be determined in particular automatically when selecting the tandem operation as the current distance of the load receiving points and the cranes. A correction can take place in that the tandem operation is deselected, corrective movements of the individual cranes are performed and then again the tandem operation is selected.
  • the safety or control system of the present invention can be connected to existing controls of the cranes and use this. It can be z. B. be connected to an on-board electronic CAN bus.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)
EP07014608A 2006-08-31 2007-07-25 Procédé de protection et de commande pour grue Active EP1894882B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102006040782A DE102006040782A1 (de) 2006-08-31 2006-08-31 Sicherungs- und Steuerungsverfahren für Krane

Publications (3)

Publication Number Publication Date
EP1894882A2 true EP1894882A2 (fr) 2008-03-05
EP1894882A3 EP1894882A3 (fr) 2009-04-15
EP1894882B1 EP1894882B1 (fr) 2012-12-05

Family

ID=38683468

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07014608A Active EP1894882B1 (fr) 2006-08-31 2007-07-25 Procédé de protection et de commande pour grue

Country Status (5)

Country Link
US (1) US9187295B2 (fr)
EP (1) EP1894882B1 (fr)
JP (1) JP5433141B2 (fr)
DE (1) DE102006040782A1 (fr)
ES (1) ES2396979T3 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010062188A1 (fr) * 2008-11-26 2010-06-03 Norwind As Système de transport marin et procédé d’utilisation de celui-ci
CN102701081A (zh) * 2012-05-16 2012-10-03 苏州汇川技术有限公司 变频器超载保护系统及方法
EP2636634A1 (fr) * 2012-03-08 2013-09-11 Liebherr-Werk Nenzing GmbH Grue et procédé de commande de grue
CN108584734A (zh) * 2018-07-05 2018-09-28 江西飞达电气设备有限公司 一种塔机力矩幅度限制器

Families Citing this family (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2706561C (fr) * 2007-11-26 2016-07-19 Safeworks, Llc Capteur de puissance
TWI444939B (zh) * 2008-01-10 2014-07-11 Univ Nat Taiwan 工程吊車之模擬系統及其方法
DE102008024513B4 (de) * 2008-05-21 2017-08-24 Liebherr-Werk Nenzing Gmbh Kransteuerung mit aktiver Seegangsfolge
US8122580B2 (en) * 2008-06-26 2012-02-28 American Railcar Industries, Inc. Methods for manufacturing an axle
US8195368B1 (en) * 2008-11-07 2012-06-05 The United States Of America As Represented By The Secretary Of The Navy Coordinated control of two shipboard cranes for cargo transfer with ship motion compensation
DE202010011345U1 (de) * 2010-08-11 2010-10-21 Terex Demag Gmbh Überwachungs- und Warneinrichtung an Baumaschinen
DE202010014310U1 (de) * 2010-10-14 2012-01-18 Liebherr-Werk Ehingen Gmbh Kran, insbesondere Raupen- oder Mobilkran
DE102011053014A1 (de) 2011-08-26 2013-02-28 Demag Cranes & Components Gmbh Steuerungsanordnung zum parallelen Betreiben von mindestens zwei Hebezeugen, insbesondere Kranen
DE102012004802A1 (de) * 2012-03-09 2013-09-12 Liebherr-Werk Nenzing Gmbh Kransteuerung mit Aufteilung einer kinematisch beschränkten Größe des Hubwerks
FI126364B (fi) 2012-05-25 2016-10-31 Konecranes Global Oy Nostolaitteen liikematkan määritys
DE102012011726C5 (de) * 2012-06-13 2024-06-13 Liebherr-Werk Ehingen Gmbh Verfahren zum Betreiben eines Krans mit Überwachungseinheit sowie Kran
EP2674384B1 (fr) * 2012-06-13 2021-01-27 Liebherr-Werk Ehingen GmbH Procédé de surveillance de la sécurité d'une grue et grue
US9434582B2 (en) * 2012-12-05 2016-09-06 Brady Paul Arthur Dual crane apparatus and method of use
US10410124B1 (en) * 2013-01-21 2019-09-10 Link-Belt Cranes, L.P., Lllp Display for displaying lifting capacity of a lifting machine and related methods
US9365402B2 (en) 2014-08-14 2016-06-14 Joseph Turner Communication assembly
JP6481819B2 (ja) * 2015-03-31 2019-03-13 株式会社タダノ 移動式クレーンの表示装置及び移動式クレーンの同期装置。
DE102015112194B4 (de) * 2015-07-27 2019-01-03 Manitowoc Crane Group France Sas Verfahren zur Planung oder Überwachung der Bewegung eines Kranes sowie Kran
DE102015118434A1 (de) * 2015-10-28 2017-05-04 Terex MHPS IP Management GmbH Verfahren zum Betreiben von mindestens zwei Hebezeugen in einem Gruppen-Betrieb und Anordnung mit mindestens zwei Hebezeugen
DE102016015388A1 (de) 2016-12-22 2018-06-28 Liebherr-Werk Ehingen Gmbh Verfahren zur assistierten Ausführung von Kranbewegungen eines Krans sowie Kran
DE102018100133A1 (de) * 2018-01-04 2019-07-04 Liebherr-Werk Biberach Gmbh Kran mit Anti-Kollisions-Einrichtung sowie Verfahren zum Betreiben mehrerer solcher Krane
DE102018104331A1 (de) * 2018-02-26 2019-08-29 Liebherr-Werk Nenzing Gmbh Verfahren zur Leistungsverwaltung bei der Pfahlgründung mit einer Trägermaschine und einem daran montierten Anbaugerät
DE102018129227A1 (de) * 2018-11-20 2020-05-20 Liebherr-Werk Biberach Gmbh Kran mit einer Antikollisionseinrichtung sowie Verfahren zum Einrichten einer solchen Antikollisionseinrichtung
DK3907171T3 (da) 2020-05-06 2022-09-26 Hiab Ab En kran, et køretøj, og en metode til kranen
CN111739152B (zh) * 2020-06-23 2024-01-23 广东电网有限责任公司培训与评价中心 一种变电站作业指导方法、装置、设备和存储介质
CN112279104B (zh) * 2020-10-26 2023-01-17 湖北微特智能技术有限公司 吊车防撞控制方法、装置、系统、计算机设备和存储介质
CN114212688B (zh) * 2022-02-22 2022-08-05 杭州未名信科科技有限公司 一种智能塔机的运动控制方法和装置
DE102022126938A1 (de) 2022-10-14 2024-04-25 Liebherr-Werk Biberach Gmbh Anti-Kollisionseinrichtung für Baumaschinen sowie Verfahren zum Betreiben mehrerer Baumaschinen

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1906599A1 (de) * 1968-02-12 1969-10-23 Siemens Ag Einrichtung zur gemeinsamen Steuerung von im Zwillingsbetrieb arbeitenden Drehwippkranen
DE2441785A1 (de) * 1974-08-31 1976-03-18 Licentia Gmbh Verfahren zur vermeidung einer kollision von kranen und eine einrichtung zur durchfuehrung des verfahrens
FR2464914A1 (fr) * 1979-09-07 1981-03-20 Brissonneau & Lotz Dispositif d'asservissement de la position et de la vitesse relatives des tetes des deux fleches d'une grue pivotante double
DD216222A1 (de) * 1983-06-28 1984-12-05 Univ Rostock Anordnung zur geschwindigkeitssteuerung von im verbundbetrieb arbeitenden dreh-wippkran
FR2680897A1 (fr) * 1991-08-29 1993-03-05 Giacalone Frederic Systeme de gestion et de surveillance des deplacements de mobiles pour l'evitement des collisions.

Family Cites Families (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2346066A (en) * 1942-10-12 1944-04-04 Joshua C Conrad Overload and radius indicator for cranes
SU449879A1 (ru) * 1972-04-27 1974-11-15 Предприятие П/Я А-7731 Способ перемещени конструкций двум кранами
JPS5361844A (en) * 1976-11-12 1978-06-02 Nishishiba Denki Kk Connection controller for two deck cranes
SU719085A1 (ru) * 1977-12-15 1981-09-07 Предприятие П/Я В-2156 Плавучий кран
JPS5665791A (en) * 1979-10-30 1981-06-03 Ishikawajima Harima Heavy Ind Method and device for controlling common hanging of jib crane
JPS60191992A (ja) * 1984-03-14 1985-09-30 日立建機株式会社 クレ−ンの巻上装置
JPS6127896A (ja) * 1984-07-17 1986-02-07 三井建設株式会社 クレ−ンの衝突防止方法
FR2601348B1 (fr) 1986-07-09 1988-10-28 Materiel Indl Equipement Dispositif de commande de ralentissement automatique de la rotation de fleches et/ou de contrefleches d'engins de levage
JP2635066B2 (ja) * 1987-12-18 1997-07-30 川崎重工業株式会社 対向型デッキクレーンの自動運転方法
FR2638440B1 (fr) 1988-11-03 1991-02-01 Grp Francais Construction Installation d'assistance a la conduite pour engins de manutention tels que des grues
KR940009268B1 (ko) * 1988-12-27 1994-10-06 가부시끼가이샤 가또 세이사꾸쇼 크레인 안전 장치
US5179525A (en) * 1990-05-01 1993-01-12 University Of Florida Method and apparatus for controlling geometrically simple parallel mechanisms with distinctive connections
US5272939B1 (en) * 1992-07-06 1994-12-06 Eaton Corp Shift enable control method/system
JPH06149341A (ja) * 1992-10-31 1994-05-27 Hitachi Zosen Corp 溶接ロボットのワーク衝突検出方法
JPH08188379A (ja) * 1995-01-10 1996-07-23 Kobe Steel Ltd クレーンの鉛直地切り制御装置
US6225574B1 (en) * 1998-11-06 2001-05-01 Harnischfeger Technology, Inc. Load weighing system for a heavy machinery
JP2000226188A (ja) * 1999-02-03 2000-08-15 Kajima Corp 可動部搭載移動体の監視方法及び装置
AUPR257001A0 (en) * 2001-01-17 2001-02-08 Bhp Innovation Pty Ltd Anti-collision protection system
JP2003011898A (ja) * 2001-07-03 2003-01-15 Tadashi Moriya データ記録方法
JP2003118981A (ja) * 2001-10-18 2003-04-23 Hitachi Ltd クレーン接近警報装置
JP4218449B2 (ja) * 2003-07-11 2009-02-04 株式会社大林組 クレーンの動作監視システム及び方法
US7599762B2 (en) * 2005-08-24 2009-10-06 Rockwell Automatino Technologies, Inc. Model-based control for crane control and underway replenishment
JP2007084336A (ja) * 2005-08-26 2007-04-05 Topcon Corp クレーン接近警報システム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1906599A1 (de) * 1968-02-12 1969-10-23 Siemens Ag Einrichtung zur gemeinsamen Steuerung von im Zwillingsbetrieb arbeitenden Drehwippkranen
DE2441785A1 (de) * 1974-08-31 1976-03-18 Licentia Gmbh Verfahren zur vermeidung einer kollision von kranen und eine einrichtung zur durchfuehrung des verfahrens
FR2464914A1 (fr) * 1979-09-07 1981-03-20 Brissonneau & Lotz Dispositif d'asservissement de la position et de la vitesse relatives des tetes des deux fleches d'une grue pivotante double
DD216222A1 (de) * 1983-06-28 1984-12-05 Univ Rostock Anordnung zur geschwindigkeitssteuerung von im verbundbetrieb arbeitenden dreh-wippkran
FR2680897A1 (fr) * 1991-08-29 1993-03-05 Giacalone Frederic Systeme de gestion et de surveillance des deplacements de mobiles pour l'evitement des collisions.

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010062188A1 (fr) * 2008-11-26 2010-06-03 Norwind As Système de transport marin et procédé d’utilisation de celui-ci
EP2636634A1 (fr) * 2012-03-08 2013-09-11 Liebherr-Werk Nenzing GmbH Grue et procédé de commande de grue
CN102701081A (zh) * 2012-05-16 2012-10-03 苏州汇川技术有限公司 变频器超载保护系统及方法
CN102701081B (zh) * 2012-05-16 2015-06-10 苏州汇川技术有限公司 变频器超载保护系统及方法
CN108584734A (zh) * 2018-07-05 2018-09-28 江西飞达电气设备有限公司 一种塔机力矩幅度限制器
CN108584734B (zh) * 2018-07-05 2024-04-12 江西飞达电气设备有限公司 一种塔机力矩幅度限制器

Also Published As

Publication number Publication date
US20080053945A1 (en) 2008-03-06
EP1894882B1 (fr) 2012-12-05
JP5433141B2 (ja) 2014-03-05
US9187295B2 (en) 2015-11-17
EP1894882A3 (fr) 2009-04-15
ES2396979T3 (es) 2013-03-01
DE102006040782A1 (de) 2008-03-20
JP2008056492A (ja) 2008-03-13

Similar Documents

Publication Publication Date Title
EP1894882B1 (fr) Procédé de protection et de commande pour grue
EP3559374B1 (fr) Manipulateur de grande taille avec structure de mât automatisée
EP2838698B2 (fr) Agencement d'un robot et procédé de commande d'un robot
EP2674384B1 (fr) Procédé de surveillance de la sécurité d'une grue et grue
EP3017918B1 (fr) Parties souples a cadence optimisee d'un espace de travail pour robot
EP1906281B1 (fr) Procédé et système pour la conception et la vérification de zones de sécurité d'un robot industriel
EP1868150B1 (fr) Planificateur d'utilisation de grue
EP2289834B1 (fr) Grue
DE102009006256B4 (de) Verfahren zur Vermeidung von Kollisionen gesteuert beweglicher Teile einer Anlage
EP2139803B2 (fr) Procédé pour assurer la commande d'un dispositif de déplacement de charge et commande de dispositif de déplacement de charge
EP3499333B1 (fr) Système de transport autoguidé et procédé de fonctionnement d'un système de transport autoguidé
EP3713867B1 (fr) Grue muni d'un dispositif anti-collision et procédé pour faire fonctionner plusieurs grues de ce type
DE102008021627A1 (de) Mobilkran und Verfahren zum Betreiben eines Mobilkranes
EP3543204A2 (fr) Procédé de fonctionnement d'un chariot de manutention
DE10233875A1 (de) Krananlage, insbesondere Containerkran
EP1313664A1 (fr) Systeme de securite redondant d'un vehicule
DE102012011726B4 (de) Verfahren zum Betreiben eines Krans mit Überwachungseinheit sowie Kran
DE102012108418A1 (de) Vorrichtung zur sicheren Kollaboration zwischen Mensch und Roboter
WO1997045357A1 (fr) Procede et systeme pour eviter les oscillations en charge d'un appareil deplaçant une charge suspendue et executant des mouvements rotatifs
WO2018060060A1 (fr) Procédé permettant de faire fonctionner des plateformes se déplaçant de manière autonome, et capteur de protection contre les obstacles
EP3628455B1 (fr) Procédé de protection d'un robot logistique mobile par comparaison des scènes avec un scénario de référence
WO2016113134A1 (fr) Moyen de déplacement avec un système robotique
DE10138898A1 (de) Redundantes Sicherheitssystem eines Fahrzeuges
WO2019162165A1 (fr) Dispositif permettant d'empêcher une collision pour un dispositif de guidage d'une installation d'ascenseur
WO2004016540A1 (fr) Procede de commande du fonctionnement d'un treuil roulant

Legal Events

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

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A2

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

AX Request for extension of the european patent

Extension state: AL BA HR MK YU

PUAL Search report despatched

Free format text: ORIGINAL CODE: 0009013

AK Designated contracting states

Kind code of ref document: A3

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

AX Request for extension of the european patent

Extension state: AL BA HR MK RS

17P Request for examination filed

Effective date: 20090616

17Q First examination report despatched

Effective date: 20090717

AKX Designation fees paid

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

GRAJ Information related to disapproval of communication of intention to grant by the applicant or resumption of examination proceedings by the epo deleted

Free format text: ORIGINAL CODE: EPIDOSDIGR1

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

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

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 IS IT LI LT LU LV MC MT NL PL 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: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 587179

Country of ref document: AT

Kind code of ref document: T

Effective date: 20121215

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: DE

Ref legal event code: R096

Ref document number: 502007010973

Country of ref document: DE

Effective date: 20130131

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2396979

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20130301

REG Reference to a national code

Ref country code: NL

Ref legal event code: T3

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: 20121205

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: 20121205

Ref country code: LT

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: 20121205

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

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

Ref country code: PL

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: 20121205

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: 20121205

Ref country code: LV

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: 20121205

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: 20130306

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

Ref country code: IS

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: 20130405

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: 20130305

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: 20121205

Ref country code: SK

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: 20121205

Ref country code: CZ

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: 20121205

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: 20121205

Ref country code: PT

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: 20130405

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: 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: 20121205

26N No opposition filed

Effective date: 20130906

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: 20121205

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502007010973

Country of ref document: DE

Effective date: 20130906

BERE Be: lapsed

Owner name: LIEBHERR-WERK NENZING GMBH

Effective date: 20130731

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

Effective date: 20121205

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

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: 20130731

Ref country code: CH

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

Effective date: 20130731

Ref country code: LI

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

Effective date: 20130731

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 NON-PAYMENT OF DUE FEES

Effective date: 20130725

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

Ref country code: MT

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: 20121205

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: 20121205

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

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; INVALID AB INITIO

Effective date: 20070725

Ref country code: LU

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

Effective date: 20130725

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 10

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

Ref country code: GB

Payment date: 20160722

Year of fee payment: 10

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

Ref country code: AT

Payment date: 20160726

Year of fee payment: 10

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 11

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 587179

Country of ref document: AT

Kind code of ref document: T

Effective date: 20170725

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20170725

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

Ref country code: GB

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

Effective date: 20170725

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: 20170725

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 12

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

Ref country code: NL

Payment date: 20220724

Year of fee payment: 16

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

Ref country code: IT

Payment date: 20220729

Year of fee payment: 16

Ref country code: ES

Payment date: 20220801

Year of fee payment: 16

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230630

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

Ref country code: FR

Payment date: 20230721

Year of fee payment: 17

Ref country code: DE

Payment date: 20230724

Year of fee payment: 17

REG Reference to a national code

Ref country code: NL

Ref legal event code: MM

Effective date: 20230801

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

Ref country code: NL

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

Effective date: 20230801

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

Ref country code: NL

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

Effective date: 20230801