EP2234755A1 - Dispositif de machine-outil avec unité de surveillance - Google Patents

Dispositif de machine-outil avec unité de surveillance

Info

Publication number
EP2234755A1
EP2234755A1 EP08867961A EP08867961A EP2234755A1 EP 2234755 A1 EP2234755 A1 EP 2234755A1 EP 08867961 A EP08867961 A EP 08867961A EP 08867961 A EP08867961 A EP 08867961A EP 2234755 A1 EP2234755 A1 EP 2234755A1
Authority
EP
European Patent Office
Prior art keywords
machine tool
feature
workpiece
user
unit
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.)
Ceased
Application number
EP08867961A
Other languages
German (de)
English (en)
Inventor
Jochen Wingbermuehle
Matthias Heiler
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2234755A1 publication Critical patent/EP2234755A1/fr
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B23Q11/0078—Safety devices protecting the operator, e.g. against accident or noise
    • B23Q11/0082—Safety devices protecting the operator, e.g. against accident or noise by determining whether the operator is in a dangerous position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
    • B23Q17/2433—Detection of presence or absence
    • B23Q17/2438—Detection of presence or absence of an operator or a part thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27G—ACCESSORY MACHINES OR APPARATUS FOR WORKING WOOD OR SIMILAR MATERIALS; TOOLS FOR WORKING WOOD OR SIMILAR MATERIALS; SAFETY DEVICES FOR WOOD WORKING MACHINES OR TOOLS
    • B27G19/00—Safety guards or devices specially adapted for wood saws; Auxiliary devices facilitating proper operation of wood saws
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27G—ACCESSORY MACHINES OR APPARATUS FOR WORKING WOOD OR SIMILAR MATERIALS; TOOLS FOR WORKING WOOD OR SIMILAR MATERIALS; SAFETY DEVICES FOR WOOD WORKING MACHINES OR TOOLS
    • B27G21/00—Safety guards or devices specially designed for other wood-working machines auxiliary devices facilitating proper operation of said wood-working machines

Definitions

  • the invention is based on a machine tool device according to the preamble of claim 1.
  • a circular table saw has already been proposed, which has a video camera for monitoring a danger zone.
  • the invention relates to a machine tool device with a monitoring unit for monitoring at least one machine tool monitoring area, which has a control unit.
  • control unit be provided to execute a recording mode in which a characteristic parameter is recorded for a feature to be taken into consideration in the workpiece machining process before a workpiece machining operation.
  • a characteristic parameter is recorded for a feature to be taken into consideration in the workpiece machining process before a workpiece machining operation.
  • a feature parameter "for" a feature is to be understood in particular a characteristic which is specially selected to characterize the feature.
  • "Recording" of a characteristic parameter is to be understood to mean in particular a process in which the feature parameter is obtained and treated in this way in that it is available for a further process, in particular a detection process, at least for the duration of the workpiece machining process.
  • the winning process of the characteristic feature may be a detection process in which the feature parameter is detected, or it may be a determination process in which the feature identifier is determined based on further acquired data.
  • the machine tool device preferably has a detection unit and / or a computing unit.
  • the detection unit can be used to detect the characteristic feature and / or for the acquisition of data, wherein the arithmetic unit can serve to determine the feature parameter on the basis of this data.
  • the machine tool device preferably has a memory unit in which the feature parameter is stored at least until the completion of the workpiece machining operation.
  • the control unit preferably has at least one arithmetic unit and a memory unit in which control commands for carrying out the recording mode are stored by the arithmetic unit.
  • a "workpiece machining operation” is understood to mean, in particular, a process in which a workpiece is machined by means of a tool located in a state driven by a drive unit. drive unit is executed.
  • a feature is "taken into account” in particular in that the corresponding feature parameter is used in a monitoring operation of the monitoring unit.
  • “Provided” is to be understood in particular to be specially designed, equipped and / or programmed.
  • the monitoring unit has an image acquisition unit which is in operative connection with the control unit for carrying out the recording mode. It can be achieved by an image capture in the execution of the recording mode, a high information density.
  • the characteristic parameter is preferably obtained in the recording mode by an evaluation of image data acquired by the image acquisition unit.
  • the monitoring unit preferably has an evaluation unit, in particular with an image processing program, which is provided to evaluate image data for obtaining the feature parameter.
  • the image acquisition unit is in particular for Capture of images in the visible range provided. Alternatively or additionally, it may be provided for detection in an invisible area.
  • the feature is related to an external environmental condition to a workpiece. As a result, application security can be further increased.
  • An "ambient condition external to a workpiece” is to be understood in particular to mean a condition which, in contrast to an intrinsic property of a workpiece, relates to the environment or the environment of a workpiece to be machined, in particular in the run-up to a workpiece machining
  • a feature related to such an environmental condition it may be independent of or in addition to a feature characteristic mapping that characterizes an intrinsic property of a workpiece, such as a material feature.
  • the capture mode is to capture a user feature characteristic for a user feature related to a machine tool user.
  • a particularly rapid and reliable detection of a dangerous situation which in particular represents a potential risk of injury to the user, can be achieved when carrying out the workpiece machining operation.
  • the user may be requested to place a body part in the detection area of a detection unit.
  • the recording mode serves to record a workpiece feature parameter for a workpiece feature related to a workpiece to be machined, whereby an advantageous adaptation of the monitoring unit to a workpiece to be machined can be achieved.
  • the user may be prompted to place the workpiece to be machined or a material sample of the same material in the detection area of a detection unit.
  • the monitoring unit has an arithmetic unit which is provided to provide at least one difference characteristic for a difference characteristic between the
  • a discriminating capability between a user feature and a workpiece feature can be characterized in a particularly advantageous manner by a quantity.
  • a high level of operating comfort can be achieved in that the machine tool device has a warning unit which is provided to output a warning signal depending on the difference parameter. In particular, this can inform the user about potentially insufficient protection during the workpiece machining process.
  • the machine tool monitoring device has a recognition unit, which is provided to detect a presence of a user body part in the machine tool monitoring area, at least by means of the user feature parameter during the workpiece machining process.
  • the machine tool device has a memory unit, wherein the control unit is provided to store values of at least one feature parameter in at least one operating mode, which are respectively assigned to different environmental conditions.
  • the values correspond to values of at least one feature parameter, wherein these values are respectively assigned to different users.
  • the values correspond to values of at least one feature parameter, wherein these values are respectively assigned to different illumination conditions.
  • the feature is a feature of the group color, contour and texture, whereby a high recognition power can be achieved.
  • the invention is further based on a method with a machine tool, in which a machine tool monitoring area is monitored by means of a monitoring unit.
  • a user feature shooting mode is performed in which a body part of a machine tool user located in the machine tool monitoring area is detected and at least one user feature characteristic for a user feature related to the machine tool user is acquired from the detection process, and then a workpiece is evaluated by the machine tool taking into account the user feature is processed. In this way, when carrying out the workpiece processing, a particularly fast and reliable detection of a dangerous situation can be achieved.
  • a workpiece feature recording mode takes place before the workpiece is processed, in which a workpiece material located in the machine tool monitoring region is detected and at least one workpiece feature parameter for a workpiece feature related to the workpiece is recorded from the detection process.
  • at least one difference characteristic for a difference feature between the user feature and the workpiece material be evaluated before the workpiece is processed. This can be particularly advantageous
  • Discriminating between a user feature and a workpiece feature can be quantitatively characterized by a size.
  • the user feature recording mode and the workpiece feature recording mode be contiguous or simultaneous.
  • a particularly high level of discriminating power can be achieved by including a feature parameter for a user feature and a characteristic feature for a workpiece feature under substantially constant lighting conditions.
  • 2 shows an internal circuit with the monitoring unit, which has a video camera, an evaluation unit for determining feature characteristics and a control unit, 3 shows a memory unit of the evaluation unit in which feature characteristics are stored,
  • Fig. 5 the table saw in the detection of a material sample and the determination of a workpiece feature characteristic
  • Fig. 6 the table saw in the simultaneous detection of a hand and a material sample.
  • FIG. 1 shows a machine tool 10 embodied as a table saw in a perspective view.
  • This has a working surface 12 which is formed as a workpiece support surface for placing a workpiece to be machined and is oriented horizontally in a basic installation position of the machine tool 10. From the working surface 12 outstanding is designed as a circular saw blade tool 16 is arranged.
  • the tool 16 is driven by a drive unit 20, which is located in a arranged below the working surface 12 drive housing 18 and is designed as an electric motor to a rotation on.
  • the machine tool 10 comprises a machine tool device 22 with a monitoring unit 24.
  • This monitoring unit 24 is provided to monitor a machine tool monitoring area 26.
  • the demarcation of the machine tool monitoring area 26 on the work surface 12 is shown schematically in FIG. 1 by means of dashed lines.
  • the machine tool monitoring area 26 includes a portion of the work surface 12 and further extends vertically upward from the work surface 12.
  • the machine tool monitoring area 26 has a partial area which is arranged in the region of the tool 16.
  • This partial area, which is designated as danger area 28, is arranged in the immediate vicinity of the tool 16. In particular, the danger zone 28 adjoins the tool 16 directly.
  • This danger zone 28 represents a region in which penetration of a body part of a user of the machine tool 10 is to be avoided.
  • the monitoring unit 24 has a detection unit 30 designed as an image detection unit, which serves to detect the machine tool monitoring area 26.
  • the sungsech 30 a field of view, which corresponds to the machine tool monitoring area 26 to be monitored.
  • the detection unit 30 is arranged in the embodiment shown in a work surface 12 protruding position.
  • the machine tool device 22 has a holding device 32, which is provided for holding the detection unit 30 in this position. Further arrangements of the detection unit 30 relative to the work surface 12 that appear appropriate to the person skilled in the art are conceivable.
  • the machine tool device 22 has a control unit 34, which is provided for carrying out operating modes of the machine tool 10.
  • the control unit 34 is part of the monitoring unit 24 and is in operative connection with the detection unit 30. It has a processor 34.1 designed as a processor and a memory unit 34.2. In the memory unit 34.2 programs are stored in particular, which serve to carry out operating modes by the arithmetic unit 34.1.
  • the control unit 34 is in operative connection with the drive unit 20 and can control signals for controlling and / or regulating a drive of the tool 16 for
  • the monitoring unit 24 has an evaluation unit 36, which is in operative connection with the detection unit 30 and with the control unit 34 and whose function will be described in more detail below.
  • the evaluation unit 36 and the control unit 34 may be formed together at least partially in one piece.
  • the machine tool device 22 also has a safety device 37, which serves to impose safety measures during operation of the machine tool 10.
  • the safety device 37 has an actuator unit 38 which is designed to carry out safety measures relating to the tool 16. This is to be placed after these safety measures when there is a risk of injury to the user, for example, in a standstill or in an inaccessible to the user area.
  • the Aktorikiki 38 serves to trigger a standing with her in operative connection securing means 40.
  • the securing means 40 is designed to stop movement of the tool 16 when triggered by the actuator unit 38.
  • the securing means 40 is formed for example as a clamping means or as a braking means.
  • the securing means 40 is designed, when triggered by the actuator unit 38, to sink the tool 16 into a region of the drive housing 18 which is inaccessible to the user below the working surface 12.
  • the securing means 40 can be used as a cover be designed to cover the tool 16. The triggering of the securing means 40 takes place by the actuator unit 38 when it receives a trigger signal from the control unit 34. This trigger signal is output by the control unit 34 as a function of a signal of the evaluation unit 36 to the actuator unit 38.
  • an actuator unit 42 of the machine tool device 22 is provided which corresponds to the control unit 34.
  • the actuator unit 42 embodied as a control unit 34 transmits a control signal to the drive unit 20, by means of which the drive of the tool 16 is stopped.
  • a security measure is thus carried out by the actuator unit 38 and / or 42 as a function of a signal of the evaluation unit 36, which triggers actuation of the actuator unit 38 or 42 by the control unit 34.
  • Evaluation unit 36 is transmitted to control unit 34 if, by means of an evaluation process, a dangerous situation in the case of a drive of tool 16 is detected on the basis of data acquired by detection unit 30, in particular image data. This recognition process will be described below.
  • control unit 34 is provided to execute a recording mode before starting a workpiece machining operation.
  • this recording mode feature characteristics are recorded, which characterize a present in the run-up to the workpiece machining operation processing condition. These feature characteristics in particular characterize features which are taken into account in a workpiece machining operation following the recording mode.
  • a recorded feature parameter characterizes a user feature related to a user of the machine tool 10. This characteristic parameter is referred to as user characteristic parameter U A.
  • the user of the machine tool 10 places a hand in the machine tool monitoring area 26, ie in the field of vision of the detection unit 30, in advance of a workpiece machining operation.
  • This is designed as a video camera which is provided for capturing images in the visible range.
  • image data is acquired by the detection unit 30.
  • This detection process is controlled by the control unit 34, which is in operative connection with the detection unit 30 for carrying out the recording mode.
  • the pictures will be closing evaluated in the evaluation unit 36.
  • the evaluation unit 36 has a computing unit 44.
  • the arithmetic unit 44 may comprise a microprocessor or it may be designed as a microprocessor. It evaluates image data of the detection unit 30 by means of a program, in particular an image processing program, which is stored in a memory unit 46 of the evaluation unit 36. On the basis of the image data, the arithmetic unit 44 determines at least the one or more user feature characteristics U A that characterize a texture feature, a color feature, and / or a contour feature of the detected hand. In this case, the wearing of a protective substance, in particular a glove, by the user can be taken into account by the determination of the user characteristic characteristics U A. These user-characteristic characteristics U A are then stored in the memory unit 46 of the evaluation unit 36, as shown in FIG.
  • the workpiece machining process is considered to be started in particular when a drive of the tool 16 has been started by the control unit 34.
  • the characteristics of the user feature characteristics
  • U A are considered in the execution of the workpiece machining operation and included in a monitoring operation of the monitoring unit 24.
  • the user pushes a workpiece placed on the work surface 12 against the rotating tool 16.
  • image data is continuously recorded by the detection unit 30. This image data is constantly updated to detect the presence of the hand of the
  • the evaluation unit 36 serves as a recognition unit 47, which is provided to detect the presence of a body part of a user of the machine tool 10 in the machine tool monitoring area 26 on the basis of a user characteristic parameter U A. For this purpose, evaluation results determined using the image data are compared with the user feature characteristics U A stored in the memory unit 46. If the hand reaches the machine tool monitoring area 26 detected by the detection unit 30, the arithmetic unit 44 determines a parameter which at least substantially corresponds to a user characteristic parameter U A , whereby the presence of the hand in the machine tool monitoring area 26 is detected by the evaluation unit 36.
  • the movement of the hand in the machine tool monitoring area 26 is then tracked for the occurrence of a dangerous situation, such as, in particular, the penetration of the hand into the danger zone 28 or the recognition of a slipping motion in a recognition process of the evaluation unit 36 which is not described in detail. If such a dangerous situation occurs, the evaluation unit 36 transmits a signal to the control unit 34, which actuates the Aktorikiki 38 and / or 42 as described above.
  • a dangerous situation such as, in particular, the penetration of the hand into the danger zone 28 or the recognition of a slipping motion in a recognition process of the evaluation unit 36 which is not described in detail.
  • the control unit 34 is also intended to execute a further Aufhahmemodus in which a feature characteristic is recorded, which characterizes a workpiece workpiece to be machined workpiece feature.
  • This feature parameter is referred to as workpiece feature parameter U M.
  • the user is prompted to place a workpiece to be machined or a material sample having the same material properties as the workpiece in the machine tool monitoring area 26. This is illustrated in FIG. 5, in which a material sample 48 is arranged in the field of view of the detection unit 30.
  • the detection unit 30 acquires image data, which are then evaluated by the arithmetic unit 44 of the evaluation unit 36.
  • the image data are preferably examined for at least one feature that corresponds to a feature that is examined in the evaluation of image data of a body part of the user as described above.
  • this feature is a feature of the group color, contour and texture.
  • workpiece characteristic parameters U M which are related to a workpiece to be machined, evaluated.
  • User characteristic parameters U A are already available, so the characteristic parameters M and U U A are compared. This is shown schematically in FIG. If these are not available, the user is prompted to place a hand in the machine tool monitoring area 26. This is followed by the evaluation process already described above.
  • the arithmetic unit 44 determines at least one difference parameter D, which thus characterizes at least one difference feature between a user feature and a workpiece feature. If at least one difference parameter D corresponds to a difference feature by means of which a sufficient distinction between a user characteristic and a workpiece feature can be achieved, then one can
  • This condition corresponds to a quantitative condition for the difference parameter D: a "sufficient" distinction corresponds to a quantitative condition, such as a minimum value which should satisfy the difference parameter D.
  • a signal is transmitted by the evaluation unit 36 to the control unit 34. This sends a control signal to a warning unit 50, which generates a warning signal for warning the user in acoustic and / or optical form This warning thus takes place as a function of the difference parameter D.
  • a warning unit 50 which generates a warning signal for warning the user in acoustic and / or optical form
  • a further recording mode can be performed by the control unit 34.
  • the user is prompted to place a hand and the material sample 48 in the machine tool monitoring area 26. This is shown in FIG.
  • the user can place the workpiece to be processed on the work surface 12 and place his hand on this.
  • the arithmetic unit 44 determines feature characteristics U A and U M as described above.
  • the recording mode is ended when a difference parameter D is determined by the arithmetic unit 44, by means of which a sufficient distinctive force can be achieved.
  • a further embodiment may be that a recording mode for recording a user characteristic parameter U A and a recording mode for recording a workpiece characteristic parameter U M directly adjoin one another.
  • the user is prompted to successively place a hand and the material sample 48 - or in reverse order - in the field of view of the detection unit 30.
  • the profit operations of the characteristic parameters U A and U M can also be carried out under identical illumination conditions.
  • the hand or material sample 48 may be placed in a portion of the machine tool monitoring area 26 that is dedicated to receiving the object to be examined. This subarea can be marked, for example, by means of a marking unit. As a result, successive detections of the hand and / or the material sample 48 can be achieved under the same lighting conditions.
  • the recording modes described above may optionally be repeated by the user. This is particularly useful when an environmental condition such as a lighting ratio has changed.
  • the determined characteristic parameters U A and / or U M can replace the previous feature characteristics.
  • the already present characteristic parameters U A and / or U M are retained, wherein the newly determined characteristic parameters are additionally stored in the memory unit. unit 46 are stored. This can be achieved several lighting profiles, each characterizing a typical lighting configuration, and are accessible by the user.
  • the Aufhahmemodi can also be redone when another type of workpiece is processed or when the machine tool 10 is used by another user.
  • the newly determined feature parameters U M or U A can replace the present feature characteristics, or workpiece profiles and / or user profiles can be created that can be called up by the user when a typical application situation exists.
  • the machine tool device 22 is also suitable for other types of machine tools, such. B. miter saws, panel saws, band saws, etc.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Wood Science & Technology (AREA)
  • Forests & Forestry (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Numerical Control (AREA)

Abstract

L'invention concerne un dispositif de machine-outil avec une unité de surveillance (24) pour surveiller au moins une zone à surveiller (26) d'une machine-outil, qui présente une unité de commande (34). Selon l'invention, l'unité de commande (34) est prévue pour exécuter, avant une opération d'usinage de pièce, un mode enregistrement au cours duquel est enregistrée une valeur caractéristique (UA, UM) pour une caractéristique à prendre en compte lors de l'opération d'usinage de pièce.
EP08867961A 2007-12-21 2008-10-30 Dispositif de machine-outil avec unité de surveillance Ceased EP2234755A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007062951A DE102007062951A1 (de) 2007-12-21 2007-12-21 Werkzeugmaschinenvorrichtung
PCT/EP2008/064734 WO2009083296A1 (fr) 2007-12-21 2008-10-30 Dispositif de machine-outil avec unité de surveillance

Publications (1)

Publication Number Publication Date
EP2234755A1 true EP2234755A1 (fr) 2010-10-06

Family

ID=40210701

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08867961A Ceased EP2234755A1 (fr) 2007-12-21 2008-10-30 Dispositif de machine-outil avec unité de surveillance

Country Status (4)

Country Link
US (1) US20110054665A1 (fr)
EP (1) EP2234755A1 (fr)
DE (1) DE102007062951A1 (fr)
WO (1) WO2009083296A1 (fr)

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DE102014209009A1 (de) * 2014-01-27 2015-07-30 Robert Bosch Gmbh Werkzeugmaschinenvorrichtung
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JP6597163B2 (ja) * 2015-10-16 2019-10-30 マックス株式会社 安全装置および工具
CN105619179B (zh) * 2016-03-25 2017-11-14 吉林大学 一种利用有限元方法加载的重型卧车可靠性试验装置
DE202017106201U1 (de) * 2017-10-12 2019-01-16 Wilhelm Altendorf Gmbh & Co. Kg Sicherheitseinrichtung für Werkzeugmaschinen
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Also Published As

Publication number Publication date
WO2009083296A1 (fr) 2009-07-09
US20110054665A1 (en) 2011-03-03
DE102007062951A1 (de) 2009-06-25

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