EP2247691A1 - Method and device for the positioning of operating units of a coal filling cart at the filling openings of a coke oven - Google Patents

Method and device for the positioning of operating units of a coal filling cart at the filling openings of a coke oven

Info

Publication number
EP2247691A1
EP2247691A1 EP09716110A EP09716110A EP2247691A1 EP 2247691 A1 EP2247691 A1 EP 2247691A1 EP 09716110 A EP09716110 A EP 09716110A EP 09716110 A EP09716110 A EP 09716110A EP 2247691 A1 EP2247691 A1 EP 2247691A1
Authority
EP
European Patent Office
Prior art keywords
filling
operating unit
machine control
values
positioning
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
EP09716110A
Other languages
German (de)
French (fr)
Other versions
EP2247691B1 (en
Inventor
Ralf Knoch
Franz-Josef Schücker
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.)
ThyssenKrupp Industrial Solutions AG
Original Assignee
Uhde 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 Uhde GmbH filed Critical Uhde GmbH
Publication of EP2247691A1 publication Critical patent/EP2247691A1/en
Application granted granted Critical
Publication of EP2247691B1 publication Critical patent/EP2247691B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • C—CHEMISTRY; METALLURGY
    • C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
    • C10B—DESTRUCTIVE DISTILLATION OF CARBONACEOUS MATERIALS FOR PRODUCTION OF GAS, COKE, TAR, OR SIMILAR MATERIALS
    • C10B31/00—Charging devices
    • C10B31/02—Charging devices for charging vertically
    • C10B31/04—Charging devices for charging vertically coke ovens with horizontal chambers
    • C—CHEMISTRY; METALLURGY
    • C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
    • C10B—DESTRUCTIVE DISTILLATION OF CARBONACEOUS MATERIALS FOR PRODUCTION OF GAS, COKE, TAR, OR SIMILAR MATERIALS
    • C10B41/00—Safety devices, e.g. signalling or controlling devices for use in the discharge of coke

Definitions

  • the invention relates to a method and a device for positioning of operating units of a coal filling car at filling openings of a coke oven.
  • a rail-guided coal filling carriage on the furnace ceiling of a coke oven and for filling the furnace chambers at locations that are specified by a machine control and filling openings are assigned in the furnace roof, and then at least one control unit of the coal filling is introduced by horizontal, two-axis positioning movements to the filling openings.
  • the operating unit can in particular be a filling telescope on the underside of a conveyor, a lid lifting device and / or a frame cleaning device for cleaning the filling hole surrounding the filling openings.
  • a carbon charging vehicle with a control unit which can be horizontally adjusted in two axes and which comprises a conveying device with a filling telescope, a cover lifting device and a frame cleaning device in combination is known from EP 1 293 552 B1.
  • the operating unit can be adapted to the actual position of the filling openings.
  • the position data of all Medlochrahmen are stored in the machine control.
  • the coal filling carriage moves into predetermined positions, which are assigned to the filling openings in the furnace roof. After positioning the coal filling carriage, the operating unit is moved in accordance with the coordinates stored in the machine control and positioned at the filling opening.
  • the coal filling truck moves on rails laid on the furnace roof of the coke oven.
  • the wheels of the coal filling wagon have flanges Guide on the rails.
  • the necessary clearance between the flanges and the rails and unavoidable wear on the flanges and rails have a detrimental effect on the positioning accuracy of the coal hopper.
  • the game between the flange of the wheels and the rails and other systemic position inaccuracies in the positioning of the coal hopper can add up so that between the operating unit, such as a filling telescope, and the Grelochrahmen a filling opening to be filled a lateral offset of a few centimeters can occur.
  • the deviations are determined by the driving movement of the filling carriage and change systematically with each new trip. They can not be eliminated by storing correction values in the machine control.
  • the invention has for its object to remedy this deficiency.
  • a method and a device are to be specified with which the described position deviations of the operating unit on the filling hole frame can be reliably detected and corrected.
  • the object is achieved by a method according to claim 1.
  • the coordinates of at least one marking attached to the furnace roof which has a fixed assignment to the center axis of a filling opening, are recorded in a measuring field predetermined by the measuring method and compared with reference values which are used for this marking in the Machine control are stored.
  • the deviations between the measured coordinates and the coordinates stored in the machine control are determined for both axial directions X, Y and taken into account in the adjusting movement of the operating unit.
  • the described marking detection at each filling hole determines the distance between the operating unit arranged on the carbon charging wagon and the center axis and the filling opening and adjusts the travel of the operating unit accordingly. This ensures that everyone Filling operation, the operating units of the filling carriage are optimally aligned at each filling hole.
  • the operating unit to be adjusted by the method according to the invention is expediently equipped with a chassis which allows horizontal, two-axis positioning movements.
  • values for the travel of the operating unit are assigned to the two axes and stored in the machine control, in order to position the operating unit from a reference position at the filling openings. From the stored values for the travel and with the correction values resulting from the mark detection, the actual travel is determined with regard to its orientation and length, and the operating unit is moved accordingly.
  • hydraulic adjustment devices are used for horizontal adjustment of an operating unit, which is movable along two mutually orthogonal axis, which are equipped with a path measuring system.
  • a device for digital image capture or a scanner is preferably used.
  • the measurement signal recorded with the optical measuring method is expediently compared with a signal stored as a reference. Measurement signals which deviate characteristically from the signal stored as a reference are not considered as false signals.
  • the markings can be attached to the Grezieren the Grezieren.
  • the position markers may be configured as two-dimensional shapes and consist, for example, of color markings or signs that are firmly connected to the filling hole frame. Furthermore, the position markers may have three-dimensional shapes and For example, be configured as a rib that stands out clearly from the ground.
  • the inventive method is used in particular for the exact positioning of filling telescopes, Deckelabhebevorraumen and frame cleaning devices at the filling openings of the coke oven.
  • the invention further relates to a device according to claim 9 for carrying out the method described.
  • the device comprises a guided on the furnace ceiling of a coke oven on rails coal filling wagon, which has a lower-side conveyor with a lowerable Greetrachen and a device for cleaning Grelochrahmen as operating units.
  • At least one operating unit has a chassis, which allows biaxial and controlled by a machine control actuating movements of the operating unit.
  • the carbon charging vehicle is equipped with an optical measuring system for detecting markings, the markings being attached to the furnace roof and filling openings being allocated.
  • the optical measuring system has a scanner or a device for digital image acquisition and comprises an evaluation unit connected to the machine control, which determines correction values for the setting movements of the operating unit from the position measured values of the marking relative to the measuring field predetermined by the optical measuring system and the correction values to the machine control transmitted.
  • the machine control controls the horizontal positioning movements of the operating unit taking into account the correction values.
  • the optical measuring system may be associated with a cleaning device for cleaning the marking to be detected and the marking environment, which preferably has a compressed air nozzle arrangement for blowing out the marking and the marking environment.
  • FIG. 2 shows the measuring field of an optical measuring system used to control the device shown in FIG.
  • the operating unit 1 shows an operating unit 1 on the underside of a coal filling carriage, not shown, which is guided on the furnace roof of a coke oven on rails and for filling the furnace chambers at locations which are predetermined by a machine control 2 and filling openings 3 are assigned in the furnace roof, is positioned.
  • the operating unit 1 in the exemplary embodiment is a filling telescope which is arranged below an outlet of a horizontal screw conveyor 4 and has an inlet funnel 5 and a telescopic base 6 which can be vertically lowered into filling openings in the furnace roof of the coke oven.
  • the Medteleskop is to adapt to the respective position of the filling openings relative to the coal filling horizontal horizontally in two mutually orthogonal axes X 1 Y adjustable and has for this purpose a chassis 7, which allows horizontal, two-axis positioning movements.
  • the figure shows that the inlet funnel 5 of the filling telescope and a lifting device 8 connected to the filling telescope lower part 6 are fastened to a supporting frame 9, which is arranged linearly adjustable within a traveling frame 10 along a first axis X.
  • the traveling frame 10 is arranged horizontally movable on rails, which are fixed to the underside of the coal filling carriage, in a second axis Y.
  • hydraulic actuators 11 are connected, which are equipped with Weg-Messein- directions and whose travel paths are controlled by the machine control 2.
  • the filling openings 3 are arranged in alignment in the furnace roof of a coke oven at equidistant intervals and in the direction of travel of the coal filling. From this ideal case, the real conditions on a coke oven deviate regularly. Especially with older coke ovens the positional deviations of the filling openings 3 in both directions X, Y are often more than ⁇ 50 mm. The position deviations can be compensated by means of the chassis 7, so that the filling telescope can always be lowered vertically and without tilting of the telescopic lower part 6 on the filling openings 3. This allows an emission-free and trouble-free filling process. The necessary horizontal travel paths are stored for each filling opening 3 in a memory of the machine control.
  • the described offset-free operation of the filling telescope or an operating unit 1 arranged on the coal filling carriage presupposes that the coal filling carriage assumes exactly one predetermined position after each journey, which is assigned to the filling opening 3.
  • the positioning accuracy of the coal hopper is regularly ⁇ 5 mm.
  • the game is in practice between 2 x 10 mm and 2 x 25 mm.
  • the deviations resulting from the travel movement of the coal filling carriage add up to several centimeters, which have a direct effect on the positioning accuracy of the operating unit 1.
  • the deviations are determined by the travel movement of the coal hopper and change with each positioning. They can not be taken into account in the values stored in the machine control for the actuating movement of the operating unit 1.
  • an optical measuring system 12 which has a scanner or a device for digital image capture.
  • markings 13 attached to the furnace roof, for example to the filling hole frame 14, which are assigned to the filling openings 3, are detected.
  • the optical measuring system 12 predefines a measuring field 15 and comprises an evaluation unit which is connected to the machine control and determines correction values for the adjusting movement of the operating unit 1 from the position measuring values relating to the marking 13 with respect to the measuring field 15 and these correction values to the machine control 2 transmitted.
  • the machine control 2 controls the horizontal movements of the operating unit 1 taking into account these correction values.
  • FIG. 2 illustrates the evaluation method.
  • the coordinates Xi, Yi of the mark 13 attached to the furnace roof, eg the filling hole frame 14, are detected in a measuring field 15 predetermined by the measuring method and compared with reference values X 0 , Yo for this marking 13 are stored in the machine control 2.
  • the values for the actuating movements of the operating unit 1 likewise stored in the machine control 2 apply to the case where the coordinate measured values Xi, Yi correspond to the reference values X 0 , Yo stored in the machine control 2. If, as shown in FIG.
  • the position Xi, Yi of the measured marking 13 in the measuring field 15 deviates from the reference value X 0 , Yo stored in the machine control 2
  • the deviations ⁇ x, ⁇ y between the measured coordinates Xi, Y 1 and the coordinates Xo, Yo stored in the machine control are determined for both axial directions X, Y, and the difference values ⁇ x, ⁇ y are taken into account as correction values in the setting movement of the operating unit 1.
  • the measuring signal recorded with the optical measuring method is compared with a signal stored as a reference value. Signals that deviate characteristically from the signal stored as a reference are not taken into account by a filter circuit as false signals.
  • the optical measuring system 12 is assigned a cleaning device 16 for cleaning the mark 13 to be detected and the marking environment. It has, for example, a nozzle arrangement 17 which can be acted upon with compressed air for blowing out the marking and the marking environment. Also conceivable is the use of brushes.

Abstract

The invention relates to a method for the positioning of operating units of a coal filling cart at the filling openings of a coke oven, wherein a rail-guided coal filling cart is displaced on the oven ceiling of a coke oven and positioned at locations that are predetermined by a machine control for filling the oven chambers, and filling openings are associated with the oven ceiling, and wherein subsequently at least one operating unit of the coal filling cart is led toward the filling openings by means of horizontal biaxial actuating motions. According to the invention, the coordinates of at least one marking affixed to the oven ceiling, having a fixed association with the center line of one filling opening, are detected by means of an optical measuring method in a measuring field predetermined by the measuring method after each positioning of the coal filling cart, and are compared to reference values, which are stored for the markings in the machine control. Deviations between the coordinates measured and the coordinates stored in the machine control are determined for both axial directions. Difference values are then taken into consideration as correction values in the actuating motion of the operating unit. An object of the invention is also a device for carrying out the method described.

Description

Verfahren und Vorrichtung zur Positionierung von Bedieneinheiten eines Kohlefüllwagens an Füllöffnungen eines Koksofens Method and device for positioning control units of a coal filling car at filling openings of a coke oven
Beschreibung:Description:
Die Erfindung betrifft ein Verfahren sowie eine Vorrichtung zur Positionierung von Bedieneinheiten eines Kohlefüllwagens an Füllöffnungen eines Koksofens.The invention relates to a method and a device for positioning of operating units of a coal filling car at filling openings of a coke oven.
Es wird ein Verfahren vorausgesetzt, bei dem eine schienengeführter Kohlefüllwagen auf der Ofendecke eines Koksofens verfahren und zur Befüllung der Ofenkammern an Stellen, die durch eine Maschinensteuerung vorgegeben werden und Füllöffnungen in der Ofendecke zugeordnet sind, positioniert wird und bei dem anschließend mindestens eine Bedieneinheit des Kohlefüllwagens durch horizontale, zweiachsige Stellbewegungen an die Füllöffnungen herangeführt wird. Bei der Bedieneinheit kann es sich insbesondere um ein Füllteleskop an der Unterseite einer Fördereinrichtung, eine Deckelabhebevorrichtung und/oder eine Rahmenreinigungsvorrichtung zur Reinigung der die Füllöffnungen umgebenden Fülllochrahmen handeln.It is a method is required, in which a rail-guided coal filling carriage on the furnace ceiling of a coke oven and for filling the furnace chambers at locations that are specified by a machine control and filling openings are assigned in the furnace roof, and then at least one control unit of the coal filling is introduced by horizontal, two-axis positioning movements to the filling openings. The operating unit can in particular be a filling telescope on the underside of a conveyor, a lid lifting device and / or a frame cleaning device for cleaning the filling hole surrounding the filling openings.
Ein Kohlefüllwagen mit einer in zwei Achsen horizontal verstellbaren Bedieneinheit, die eine Fördereinrichtung mit einem Füllteleskop, eine Deckelabhebevorrichtung sowie eine Rahmenreinigungsvorrichtung in Kombination umfasst, ist aus EP 1 293 552 B1 bekannt. Durch horizontale Stellbewegungen kann die Bedieneinheit an die tatsächliche Lage der Füllöffnungen angepasst werden. Die Positionsdaten aller Fülllochrahmen sind in der Maschinensteuerung gespeichert. Zum Beschicken der Ofenkammern des Koksofens fährt der Kohlefüllwagen in vorgegebene Positionen, die den Füllöffnungen in der Ofendecke zugeordnet sind. Nach der Positionierung des Kohlefüllwagens wird die Bedieneinheit entsprechend der in der Maschinensteuerung gespeicherten Koordinaten verfahren und an der Füllöffnung positioniert.A carbon charging vehicle with a control unit which can be horizontally adjusted in two axes and which comprises a conveying device with a filling telescope, a cover lifting device and a frame cleaning device in combination is known from EP 1 293 552 B1. By horizontal positioning movements, the operating unit can be adapted to the actual position of the filling openings. The position data of all Fülllochrahmen are stored in the machine control. For loading the kiln chambers of the coke oven, the coal filling carriage moves into predetermined positions, which are assigned to the filling openings in the furnace roof. After positioning the coal filling carriage, the operating unit is moved in accordance with the coordinates stored in the machine control and positioned at the filling opening.
Der Kohlefüllwagen bewegt sich auf Schienen, die auf der Ofendecke des Koksofens verlegt sind. Die Räder des Kohlefüllwagens weisen Spurkränze zur Führung auf den Schienen auf. Das notwendige Spiel zwischen den Spurkränzen und den Schienen sowie ein unvermeidbarer Verschleiß an den Spurkränzen und Schienen wirken sich nachteilig auf die Positioniergenauigkeit des Kohlefüllwagens aus. Das Spiel zwischen dem Spurkranz der Räder und den Schienen sowie anderweitige systembedingte Positionsungenauigkeiten bei der Positionierung des Kohlefüllwagens können sich so addieren, dass zwischen der Bedieneinheit, beispielsweise einem Füllteleskop, und dem Fülllochrahmen einer zu befüllenden Füllöffnung ein Seitenversatz von einigen Zentimetern auftreten kann. Die Abweichungen werden durch die Fahrbewegung des Füllwagens bestimmt und verändern sich systembedingt bei jeder neuen Fahrt. Sie lassen sich nicht durch Speicherung von Korrekturwerten in der Maschinensteuerung eliminieren.The coal filling truck moves on rails laid on the furnace roof of the coke oven. The wheels of the coal filling wagon have flanges Guide on the rails. The necessary clearance between the flanges and the rails and unavoidable wear on the flanges and rails have a detrimental effect on the positioning accuracy of the coal hopper. The game between the flange of the wheels and the rails and other systemic position inaccuracies in the positioning of the coal hopper can add up so that between the operating unit, such as a filling telescope, and the Fülllochrahmen a filling opening to be filled a lateral offset of a few centimeters can occur. The deviations are determined by the driving movement of the filling carriage and change systematically with each new trip. They can not be eliminated by storing correction values in the machine control.
Der Erfindung liegt die Aufgabe zugrunde, diesen Mangel zu beheben. Es soll ein Verfahren sowie eine Vorrichtung angegeben werden, mit der die beschriebenen Positionsabweichungen der Bedieneinheit an den Fülllochrahmen betriebssicher erkennbar und korrigierbar sind.The invention has for its object to remedy this deficiency. A method and a device are to be specified with which the described position deviations of the operating unit on the filling hole frame can be reliably detected and corrected.
Die Aufgabe wird erfindungsgemäß durch ein Verfahren nach Anspruch 1 gelöst. Erfindungsgemäß wird nach jeder Positionierung des Kohlefüllwagens mit einem optischen Messverfahren die Koordinaten mindestens einer an der Ofendecke angebrachten Markierung, die eine feste Zuordnung zur Mittelachse einer Füllöffnung aufweist, in einem durch das Messverfahren vorgegebenen Messfeld erfasst und mit Referenzwerten verglichen, die für diese Markierung in der Maschinensteuerung hinterlegt sind. Die Abweichungen zwischen den gemessenen Koordinaten und den in der Maschinensteuerung hinterlegten Koordinaten werden für beide Achsrichtungen X, Y bestimmt sowie bei der Stellbewegung der Bedieneinheit berücksichtigt. Mit dem erfindungsgemäßen Verfahren wird durch die beschrieben Markierungserfassung an jedem Füllloch der Abstand zwischen der an dem Kohlefüllwagen angeordneten Bedieneinheit und der Mittelachse und der Füllöffnung ermittelt und wird der Stellweg der Bedieneinheit entsprechend angepasst. Dadurch ist sichergestellt, dass bei jedem Füllvorgang die Bedieneinheiten des Füllwagens an jedem Füllloch optimal ausgerichtet sind.The object is achieved by a method according to claim 1. According to the invention, after each positioning of the coal filling carriage with an optical measuring method, the coordinates of at least one marking attached to the furnace roof, which has a fixed assignment to the center axis of a filling opening, are recorded in a measuring field predetermined by the measuring method and compared with reference values which are used for this marking in the Machine control are stored. The deviations between the measured coordinates and the coordinates stored in the machine control are determined for both axial directions X, Y and taken into account in the adjusting movement of the operating unit. With the method according to the invention, the described marking detection at each filling hole determines the distance between the operating unit arranged on the carbon charging wagon and the center axis and the filling opening and adjusts the travel of the operating unit accordingly. This ensures that everyone Filling operation, the operating units of the filling carriage are optimally aligned at each filling hole.
Die nach dem erfindungsgemäßen Verfahren zu verstellende Bedieneinheit wird zweckmäßig mit einem Fahrwerk ausgerüstet, das horizontale, zweiachsige Stellbewegungen ermöglicht. Mit den in der Maschinensteuerung zu den Markierungen hinterlegten Referenzwerten werden Werte für den Stellweg der Bedieneinheit den beiden Achsen zugeordnet und in der Maschinensteuerung gespeichert, um die Bedieneinheit aus einer Referenzlage heraus an den Füllöffnungen zu positionieren. Aus den gespeicherten Werten für den Stellweg und mit den aus der Markierungserfassung resultierenden Korrekturwerten wird der tatsächliche Stellweg hinsichtlich seiner Ausrichtung und Länge festgelegt und die Bedieneinheit entsprechend verfahren.The operating unit to be adjusted by the method according to the invention is expediently equipped with a chassis which allows horizontal, two-axis positioning movements. With the reference values stored in the machine control for the markings, values for the travel of the operating unit are assigned to the two axes and stored in the machine control, in order to position the operating unit from a reference position at the filling openings. From the stored values for the travel and with the correction values resulting from the mark detection, the actual travel is determined with regard to its orientation and length, and the operating unit is moved accordingly.
Vorzugsweise werden zur Horizontalverstellung einer Bedieneinheit, die entlang zwei zueinander orthogonaler Achse verfahrbar ist, hydraulische Stelleinrichtungen verwendet, die mit einem Weg-Messsystem ausgestattet sind.Preferably, hydraulic adjustment devices are used for horizontal adjustment of an operating unit, which is movable along two mutually orthogonal axis, which are equipped with a path measuring system.
Für das optische Messsystem wird vorzugsweise ein Gerät zur digitalen Bilderfassung oder ein Scanner verwendet. Um zu vermeiden, dass Gegenstände, die zufällig im Messfeld liegen, Fehlmessungen auslösen, wird das mit dem optischem Messverfahren aufgenommene Messsignal zweckmäßig mit einem als Referenz hinterlegten Signal verglichen. Messsignale, die von dem als Referenz hinterlegten Signal charakteristisch abweichen, werden als Fehlsignale nicht berücksichtigt. Um die Betriebssicherheit weiterhin zu verbessern, kann es zweckmäßig sein, die Markierung mit Druckluft oder durch Bürsten zu reinigen, bevor das optische Messverfahren durchgeführt wird.For the optical measuring system, a device for digital image capture or a scanner is preferably used. In order to avoid that objects which happen to be in the measuring field trigger erroneous measurements, the measurement signal recorded with the optical measuring method is expediently compared with a signal stored as a reference. Measurement signals which deviate characteristically from the signal stored as a reference are not considered as false signals. In order to further improve the operational safety, it may be useful to clean the marking with compressed air or by brushing before the optical measuring method is performed.
Die Markierungen können an den Fülllochrahmen der Fülllöffnungen angebracht werden. Die Positionsmarkierungen können als zweidimensionale Formen ausgestaltet sein und beispielsweise aus Farbmarkierungen oder Schildern bestehen, die fest mit dem Fülllochrahmen verbunden werden. Des Weiteren können die Positionsmarkierungen dreidimensionale Formen aufweisen und beispielsweise als Rippe ausgestaltet werden, die sich deutlich von dem Untergrund abhebt.The markings can be attached to the Fülllochrahmen the Fülllöffnungen. The position markers may be configured as two-dimensional shapes and consist, for example, of color markings or signs that are firmly connected to the filling hole frame. Furthermore, the position markers may have three-dimensional shapes and For example, be configured as a rib that stands out clearly from the ground.
Das erfindungsgemäße Verfahren wird insbesondere zur exakten Positionierung von Füllteleskopen, Deckelabhebevorrichtungen und Rahmenreinigungsvorrichtungen an den Füllöffnungen des Koksofens genutzt.The inventive method is used in particular for the exact positioning of filling telescopes, Deckelabhebevorrichtungen and frame cleaning devices at the filling openings of the coke oven.
Gegenstand der Erfindung ist ferner eine Vorrichtung nach Anspruch 9 zur Durchführung des beschriebenen Verfahrens. Die Vorrichtung umfasst einen auf der Ofendecke eines Koksofens auf Schienen geführten Kohlefüllwagen, der eine unterseitige Fördereinrichtung mit einem absenkbaren Füllteleskop, eine Deckelabhebevorrichtung und eine Vorrichtung zur Reinigung von Fülllochrahmen als Bedieneinheiten aufweist. Mindestens eine Bedieneinheit weist ein Fahrwerk auf, welches zweiachsige und von einer Maschinensteuerung gesteuerte Stellbewegungen der Bedieneinheit ermöglicht. Der Kohlefüllwagen ist erfindungsgemäß mit einem optischen Messsystem zur Erfassung von Markierungen ausgestattet, wobei die Markierungen an der Ofendecke angebracht und Füllöffnungen zugeordnet sind. Das optische Messsystem weist einen Scanner oder ein Gerät zur digitalen Bilderfassung auf und umfasst eine mit der Maschinensteuerung verbundene Auswerteeinheit, welche aus den Positionsmesswerten der Markierung bezogen auf das von dem optischen Messsystem vorgegebene Messfeld Korrekturwerte für die Stellbewegungen der Bedieneinheit ermittelt und die Korrekturwerte an die Maschinensteuerung übermittelt. Die Maschinensteuerung steuert die horizontalen Stellbewegungen der Bedieneinheit unter Berücksichtigung der Korrekturwerte.The invention further relates to a device according to claim 9 for carrying out the method described. The device comprises a guided on the furnace ceiling of a coke oven on rails coal filling wagon, which has a lower-side conveyor with a lowerable Füllteleskop, a Deckelabhebevorrichtung and a device for cleaning Fülllochrahmen as operating units. At least one operating unit has a chassis, which allows biaxial and controlled by a machine control actuating movements of the operating unit. According to the invention, the carbon charging vehicle is equipped with an optical measuring system for detecting markings, the markings being attached to the furnace roof and filling openings being allocated. The optical measuring system has a scanner or a device for digital image acquisition and comprises an evaluation unit connected to the machine control, which determines correction values for the setting movements of the operating unit from the position measured values of the marking relative to the measuring field predetermined by the optical measuring system and the correction values to the machine control transmitted. The machine control controls the horizontal positioning movements of the operating unit taking into account the correction values.
Dem optischen Messsystem kann eine Reinigungsvorrichtung zur Säuberung der zu erfassenden Markierung und des Markierungsumfeldes zugeordnet sein, die vorzugsweise eine mit Druckluft beaufschlagte Düsenanordnung zum Freiblasen der Markierung und des Markierungsumfeldes aufweist.The optical measuring system may be associated with a cleaning device for cleaning the marking to be detected and the marking environment, which preferably has a compressed air nozzle arrangement for blowing out the marking and the marking environment.
Im Folgenden wird die Erfindung anhand einer lediglich ein Ausführungsbeispiel darstellenden Zeichnung erläutert. Es zeigen schematisch Fig. 1 eine Vorrichtung zum Befüllen von Ofenkammern eines Koksofens,In the following the invention will be explained with reference to a drawing showing only one embodiment. It show schematically 1 shows a device for filling furnace chambers of a coke oven,
Fig. 2 das Messfeld einer zur Steuerung der Fig. 1 dargestellten Vorrichtung verwendeten optischen Messsystems.2 shows the measuring field of an optical measuring system used to control the device shown in FIG.
Die Fig. 1 zeigt eine Bedieneinheit 1 an der Unterseite eines nicht dargestellten Kohlefüllwagens, der auf der Ofendecke eines Koksofens auf Schienen geführt ist und zur Befüllung der Ofenkammern an Stellen, die durch eine Maschinensteuerung 2 vorgegeben werden und Füllöffnungen 3 in der Ofendecke zugeordnet sind, positioniert wird. Bei der Bedieneinheit 1 handelt es sich im Ausführungsbeispiel um ein Füllteleskop, welches unterhalb eines Auslasses einer Horizontalförderschnecke 4 angeordnet ist und einen Einlauftrichter 5 sowie ein in Füllöffnungen in der Ofendecke des Koksofens vertikal absenkbares Teleskopunterteil 6 aufweist. Das Füllteleskop ist zur Anpassung an die jeweilige Position der Füllöffnungen relativ zum Kohlefüllwagen horizontal in zwei zueinander orthogonalen Achsen X1 Y verstellbar und weist zu diesem Zweck ein Fahrwerk 7 auf, das horizontale, zweiachsige Stellbewegungen ermöglicht. Der Figur entnimmt man, dass der Einlauftrichter 5 des Füllteleskops sowie eine mit dem Füllteleskopunterteil 6 verbundene Hubeinrichtung 8 an einem Tragrahmen 9 befestigt sind, der entlang einer ersten Achse X linear verstellbar innerhalb eines Fahrrahmens 10 angeordnet ist. Der Fahrrahmen 10 ist auf Schienen, die an der Unterseite des Kohlefüllwagens befestigt sind, in einer zweiten Achse Y horizontal verfahrbar angeordnet. An den Tragrahmen 9 und Fahrrahmen 10 sind hydraulische Stelleinrichtungen 11 angeschlossen, die mit Weg-Messein- richtungen ausgestattet sind und deren Stellwege von der Maschinensteuerung 2 gesteuert werden.1 shows an operating unit 1 on the underside of a coal filling carriage, not shown, which is guided on the furnace roof of a coke oven on rails and for filling the furnace chambers at locations which are predetermined by a machine control 2 and filling openings 3 are assigned in the furnace roof, is positioned. The operating unit 1 in the exemplary embodiment is a filling telescope which is arranged below an outlet of a horizontal screw conveyor 4 and has an inlet funnel 5 and a telescopic base 6 which can be vertically lowered into filling openings in the furnace roof of the coke oven. The Füllteleskop is to adapt to the respective position of the filling openings relative to the coal filling horizontal horizontally in two mutually orthogonal axes X 1 Y adjustable and has for this purpose a chassis 7, which allows horizontal, two-axis positioning movements. The figure shows that the inlet funnel 5 of the filling telescope and a lifting device 8 connected to the filling telescope lower part 6 are fastened to a supporting frame 9, which is arranged linearly adjustable within a traveling frame 10 along a first axis X. The traveling frame 10 is arranged horizontally movable on rails, which are fixed to the underside of the coal filling carriage, in a second axis Y. To the support frame 9 and the travel frame 10 hydraulic actuators 11 are connected, which are equipped with Weg-Messein- directions and whose travel paths are controlled by the machine control 2.
Im Idealfall sind die Füllöffnungen 3 in der Ofendecke eines Koksofens in äquidistanten Abständen sowie in Fahrtrichtung des Kohlefüllwagen fluchtend angeordnet. Von diesem Idealfall weichen die realen Verhältnisse an einem Koksofen regelmäßig ab. Insbesondere bei älteren Koksöfen betragen die Lageabweichungen der Füllöffnungen 3 in beiden Richtungen X, Y häufig mehr als ±50 mm. Die Lageabweichungen können mittels des Fahrwerkes 7 ausgeglichen werden, so dass das Füllteleskop stets vertikal und ohne Schrägstellung des Teleskopunterteils 6 auf die Füllöffnungen 3 abgesenkt werden kann. Das erlaubt einen emissionsfreien und störungsfreien Füllvorgang. Die notwendigen horizontalen Stellwege sind für jede Füllöffnung 3 in einem Speicher der Maschinensteuerung hinterlegt. Der beschriebene versatzfreie Betrieb des Füllteleskops bzw. einer an dem Kohlefüllwagen angeordneten Bedieneinheit 1 setzt allerdings voraus, dass der Kohlefüllwagen nach jeder Fahrt exakt eine vorgegebene Position einnimmt, die der Füllöffnung 3 zugeordnet ist. Dies ist in der Praxis nicht möglich. So beträgt die Positioniergenauigkeit des Kohlefüllwagens in der Praxis regelmäßig ±5 mm. Ferner ist ein Spiel zwischen den Spurkränzen der Räder des Kohlefüllwagen und den Schienen zu berücksichtigen, welches sich verschleißbedingt im Laufe der Zeit ändert. Das Spiel beträgt in der Praxis zwischen 2 x 10 mm und 2 x 25 mm. In der Summe addieren sich die aus der Fahrbewegung des Kohlefüllwagens resultierenden Abweichungen auf mehrere Zentimeter, die sich auf die Positioniergenauigkeit der Bedieneinheit 1 unmittelbar auswirken. Die Abweichungen sind durch die Fahrbewegung des Kohlefüllwagens bestimmt und verändern sich bei jeder Positionierung. Sie können nicht in den in der Maschinensteuerung gespeicherten Werten für die Stellbewegung der Bedieneinheit 1 berücksichtigt werden.Ideally, the filling openings 3 are arranged in alignment in the furnace roof of a coke oven at equidistant intervals and in the direction of travel of the coal filling. From this ideal case, the real conditions on a coke oven deviate regularly. Especially with older coke ovens the positional deviations of the filling openings 3 in both directions X, Y are often more than ± 50 mm. The position deviations can be compensated by means of the chassis 7, so that the filling telescope can always be lowered vertically and without tilting of the telescopic lower part 6 on the filling openings 3. This allows an emission-free and trouble-free filling process. The necessary horizontal travel paths are stored for each filling opening 3 in a memory of the machine control. However, the described offset-free operation of the filling telescope or an operating unit 1 arranged on the coal filling carriage presupposes that the coal filling carriage assumes exactly one predetermined position after each journey, which is assigned to the filling opening 3. This is not possible in practice. In practice, the positioning accuracy of the coal hopper is regularly ± 5 mm. Furthermore, a clearance between the wheel flanges of the wheels of the carbon charging and the rails to be considered, which changes due to wear over time. The game is in practice between 2 x 10 mm and 2 x 25 mm. In total, the deviations resulting from the travel movement of the coal filling carriage add up to several centimeters, which have a direct effect on the positioning accuracy of the operating unit 1. The deviations are determined by the travel movement of the coal hopper and change with each positioning. They can not be taken into account in the values stored in the machine control for the actuating movement of the operating unit 1.
Zur Verbesserung der Positioniergenauigkeit ist der Kohlefüllwagen mit einem optischen Messsystem 12 ausgestattet, welches einen Scanner oder ein Gerät zur digitalen Bilderfassung aufweist. Mit dem optischen Messsystem 12 werden an der Ofendecke, z.B. an den Fülllochrahmen 14, angebrachte Markierungen 13 erfasst, die den Füllöffnungen 3 zugeordnet sind. Das optische Messsystem 12 gibt ein Messfeld 15 vor und umfasst eine Auswerteeinheit, die mit der Maschinensteuerung verbunden ist und aus den die Markierung 13 betreffenden Positions-Messwerten bezogen auf das Messfeld 15 Korrekturwerte für die Stellbewegung der Bedieneinheit 1 ermittelt und diese Korrekturwerte an die Maschinensteuerung 2 übermittelt. Die Maschinensteuerung 2 steuert die horizontalen Bewegungen der Bedieneinheit 1 unter Berücksichtigung dieser Korrekturwerte. Die Fig. 2 veranschaulicht das Auswerteverfahren. Nach jeder Positionierung des Kohlefüllwagens werden mit einem optischen Messverfahren die Koordinaten Xi, Yi der an der Ofendecke, z.B. am Fülllochrahmen 14, angebrachten Markierung 13 in einem durch das Messverfahren vorgegebenen Messfeld 15 erfasst und mit Referenzwerten X0, Yo verglichen, die für diese Markierung 13 in der Maschinensteuerung 2 hinterlegt sind. Die in der Maschinensteuerung 2 ebenfalls hinterlegten Werte für die Stellbewegungen der Bedieneinheit 1 gelten für den Fall, dass die Koordinatenmesswerte X-i, Yi den in der Maschinensteuerung 2 hinterlegten Referenzwerten X0, Yo entsprechen. Wenn, wie in Fig. 2 dargestellt, die Lage X-i, Yi der gemessenen Markierung 13 im Messfeld 15 von dem in der Maschinensteuerung 2 hinterlegten Referenzwert X0, Yo abweicht, werden die Abweichungen Δx, Δy zwischen den gemessenen Koordinaten Xi, Y1 und den in der Maschinensteuerung hinterlegten Koordinaten Xo, Yo für beide Achsrichtungen X, Y bestimmt und werden die Differenzwerte Δx, Δy als Korrekturwerte bei der Stellbewegung der Bedieneinheit 1 berücksichtigt.To improve the positioning accuracy of the carbon charging is equipped with an optical measuring system 12, which has a scanner or a device for digital image capture. With the optical measuring system 12, markings 13 attached to the furnace roof, for example to the filling hole frame 14, which are assigned to the filling openings 3, are detected. The optical measuring system 12 predefines a measuring field 15 and comprises an evaluation unit which is connected to the machine control and determines correction values for the adjusting movement of the operating unit 1 from the position measuring values relating to the marking 13 with respect to the measuring field 15 and these correction values to the machine control 2 transmitted. The machine control 2 controls the horizontal movements of the operating unit 1 taking into account these correction values. FIG. 2 illustrates the evaluation method. After each positioning of the coal filling carriage, the coordinates Xi, Yi of the mark 13 attached to the furnace roof, eg the filling hole frame 14, are detected in a measuring field 15 predetermined by the measuring method and compared with reference values X 0 , Yo for this marking 13 are stored in the machine control 2. The values for the actuating movements of the operating unit 1 likewise stored in the machine control 2 apply to the case where the coordinate measured values Xi, Yi correspond to the reference values X 0 , Yo stored in the machine control 2. If, as shown in FIG. 2, the position Xi, Yi of the measured marking 13 in the measuring field 15 deviates from the reference value X 0 , Yo stored in the machine control 2, the deviations Δx, Δy between the measured coordinates Xi, Y 1 and the coordinates Xo, Yo stored in the machine control are determined for both axial directions X, Y, and the difference values Δx, Δy are taken into account as correction values in the setting movement of the operating unit 1.
Um zu vermeiden, dass von dem Messfeld 15 erfasste Fremdkörper zu Fehlmessungen führen, wird das mit dem optischen Messverfahren aufgenommene Messsignal mit einem als Referenzwert hinterlegten Signal verglichen. Signale, die von dem als Referenz hinterlegten Signal charakteristisch abweichen, werden durch eine Filterschaltung als Fehlsignale nicht berücksichtigt.In order to avoid that foreign objects detected by the measuring field 15 lead to erroneous measurements, the measuring signal recorded with the optical measuring method is compared with a signal stored as a reference value. Signals that deviate characteristically from the signal stored as a reference are not taken into account by a filter circuit as false signals.
Im Ausführungsbeispiel und gemäß einer bevorzugten Ausführung der Erfindung ist dem optischen Messsystem 12 eine Reinigungsvorrichtung 16 zur Säuberung der zu erfassenden Markierung 13 und des Markierungsumfeldes zugeordnet. Sie weist beispielsweise eine mit Druckluft beaufschlagbare Düsenanordnung 17 zum Freiblasen der Markierung und des Markierungsumfeldes auf. Denkbar ist auch die Verwendung von Bürsten. In the exemplary embodiment and according to a preferred embodiment of the invention, the optical measuring system 12 is assigned a cleaning device 16 for cleaning the mark 13 to be detected and the marking environment. It has, for example, a nozzle arrangement 17 which can be acted upon with compressed air for blowing out the marking and the marking environment. Also conceivable is the use of brushes.

Claims

Patentansprüche: claims:
1. Verfahren zur Positionierung von Bedieneinheiten eines Kohlefüllwagens an Füllöffnungen eines Koksofens,1. A method for positioning operating units of a coal filling carriage at filling openings of a coke oven,
wobei ein schienengeführter Kohlefüllwagen auf der Ofendecke eines Koksofens verfahren und zur Befüllung der Ofenkammern an Stellen, die durch eine Maschinensteuerung vorgegeben werden und Füllöffnungen in der Ofendecke zugeordnet sind, positioniert wird undwherein a rail-guided coal filling carriage on the furnace ceiling of a coke oven and moved to fill the furnace chambers at locations that are dictated by a machine control and filling openings are assigned in the furnace roof, and is positioned
wobei anschließend mindestens eine Bedieneinheit des Kohlefüllwagens durch horizontale, zweiachsige Stellbewegungen an die Füllöffnungen herangeführt wird, d a d u r c h g e k e n n z e i c h n e t , dass nach jeder Positionierung des Kohlefüllwagens mit einem optischen Messverfahren die Koordinaten mindestens einer an der Ofendecke angebrachten Markierung, die eine feste Zuordnung zur Mittelachse einer Füllöffnung aufweist, in einem durch das Messverfahren vorgegebenen Messfeld erfasst und mit Referenzwerten verglichen werden, die für diese Markierung in der Maschinensteuerung hinterlegt sind, undwherein subsequently at least one operating unit of the coal filling carriage is brought to the filling openings by horizontal, biaxial positioning movements, characterized in that after each positioning of the coal filling carriage with an optical measuring method, the coordinates of at least one marking attached to the furnace roof, which has a fixed assignment to the center axis of a filling opening, be detected in a predetermined by the measuring measurement field and compared with reference values, which are deposited for this marking in the machine control, and
dass die Abweichungen zwischen den gemessenen Koordinaten und den in der Maschinensteuerung hinterlegten Koordinaten für beide Achsrichtungen (X, Y) bestimmt sowie bei der Stellbewegung der Bedieneinheit berücksichtigt werden.that the deviations between the measured coordinates and the coordinates stored in the machine control are determined for both axial directions (X, Y) and taken into account in the adjusting movement of the operating unit.
2. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass die Bedieneinheit mit einem Fahrwerk ausgerüstet wird, das horizontale, zweiachsige Stellbewegungen ermöglicht,2. The method according to claim 1, characterized in that the control unit is equipped with a chassis that allows horizontal, two-axis positioning movements,
dass den für die Markierungen hinterlegten Referenzwerten Werte für den Stellweg der Bedieneinheit in beiden Achsen zugeordnet und in der Maschinensteuerung gespeichert werden, um die Bedieneinheit aus einer Referenzlage heraus an den Füllöffnungen zu positionieren, und dass die Bedieneinheit nach Maßgabe korrigierter Werte verfahren und an den Füllöffnungen positioniert wird, die sich aus den gespeicherten Werten für den Stellweg und aus der Markierungserfassung resultierenden Korrekturwerten ergeben.that the reference values stored for the markings are assigned values for the travel of the operating unit in both axes and stored in the machine control, in order to position the operating unit from a reference position at the filling openings, and the operating unit is moved in accordance with corrected values and positioned at the filling openings, which result from the stored values for the travel and from the marking detection resulting correction values.
3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Bedieneinheit entlang zwei zueinander orthogonaler Achse verfahrbar ist und dass zur Horizontalverstellung der Bedieneinheit hydraulische Stelleinrichtungen verwendet werden, die mit einem Weg-Messsystem ausgestattet sind.3. The method according to claim 1 or 2, characterized in that the operating unit along two mutually orthogonal axis is movable and that are used for horizontal adjustment of the control unit hydraulic adjusting devices, which are equipped with a displacement measuring system.
4. Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Markierungserfassung für eine exakte Positionierung von Füllteleskopen, Deckelabhebevorrichtungen und Rahmenreinigungsvorrichtungen an den Füllöffnungen des Koksofens genutzt wird.4. The method according to any one of claims 1 to 3, characterized in that the marking detection is used for accurate positioning of filling telescopes, Deckelabhebevorrichtungen and frame cleaning devices at the filling openings of the coke oven.
5. Verfahren nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass für das optische Messverfahren ein Gerät zur digitalen Bilderfassung oder ein Scanner verwendet wird.5. The method according to any one of claims 1 to 4, characterized in that for the optical measuring method, a device for digital image capture or a scanner is used.
6. Verfahren nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass die Markierungen an den Fülllochrahmen der Füllöffnungen angebracht werden.6. The method according to any one of claims 1 to 5, characterized in that the markings are attached to the Fülllochrahmen the filling openings.
7. Verfahren nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass das mit dem optischen Messverfahren aufgenommene Messsignal mit einem als Referenz hinterlegten Signal verglichen wird und dass Messsignale, die von dem als Referenz hinterlegten Signal charakteristisch abweichen, als Fehlsignale nicht berücksichtigt werden.7. The method according to any one of claims 1 to 6, characterized in that the measurement signal recorded by the optical measuring method is compared with a signal stored as a reference and that measurement signals that differ characteristic of the signal stored as a reference, are not considered as false signals.
8. Verfahren nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass die Markierung mit Druckluft oder durch Bürsten gereinigt wird, bevor das optische Messverfahren durchgeführt wird. 8. The method according to any one of claims 1 to 7, characterized in that the mark is cleaned with compressed air or by brushing before the optical measuring method is performed.
9. Vorrichtung zur Durchführung des Verfahrens nach einem der Ansprüche 1 bis 8 mit einem auf der Ofendecke eines Koksofens auf Schienen geführten Kohlefüllwagen, der eine unterseitige Fördereinrichtung mit einem absenkbaren Füllteleskop, eine Deckelabhebevorrichtung und eine Vorrichtung zur Reinigung von Fülllochrahmen als Bedieneinheiten aufweist,9. A device for carrying out the method according to one of claims 1 to 8 with a guided on the furnace roof of a coke oven on rails coal filling, having a lower side conveyor with a lowerable telescope, a Deckelabhebevorrichtung and a device for cleaning Fülllochrahmen as operating units,
wobei mindestens eine Bedieneinheit (1) ein Fahrwerk (7) aufweist, welches horizontale, zweiachsige und von einer Maschinensteuerung (2) gesteuerte Stellbewegungen der Bedieneinheit (1 ) ermöglicht, d a d u r c h g e k e n n z e i c h n e t , dass der Kohlefüllwagen mit einem optischen Messsystem (12) zur Erfassung von Markierungen (13) ausgestattet ist,wherein at least one operating unit (1) comprises a chassis (7), which horizontal, two-axis and by a machine control (2) controlled actuating movements of the operating unit (1), characterized in that the carbon charging vehicle with an optical measuring system (12) for detecting markings (13) is equipped
wobei die Markierungen (13) an der Ofendecke angebracht und Füllöffnungen (3) zugeordnet sind undthe markings (13) being attached to the furnace roof and associated with filling openings (3), and
wobei das optische Messsystem (12) ein Messfeld (15) vorgibt sowie eine mit der Maschinensteuerung (2) verbundene Auswerteeinheit umfasst, welche aus den die Markierungen (13) betreffenden Positionsmesswerten (X-i, Yi) bezogen auf das Messfeld (15) Werte für die Stellbewegungen der Bedieneinheit (1 ) ermittelt und diese Werte an die Maschinensteuerung (2) übermittelt.wherein the optical measuring system (12) predetermines a measuring field (15) and comprises an evaluation unit connected to the machine control (2) which determines values for the position measuring values (Xi, Yi) relating to the markings (13) with respect to the measuring field (15) Determines positioning movements of the operating unit (1) and transmits these values to the machine control (2).
10. Vorrichtung nach Anspruch 9, dadurch gekennzeichnet, dass das optische Messsystem (12) einen Scanner oder ein Gerät zur digitalen Bilderfassung aufweist.10. The device according to claim 9, characterized in that the optical measuring system (12) comprises a scanner or a device for digital image capture.
11. Vorrichtung nach Anspruch 9 oder 10, dadurch gekennzeichnet, dass die Markierungen (13) an den Fülllochrahmen (14) angeordnet sind.11. The device according to claim 9 or 10, characterized in that the markings (13) are arranged on the Fülllochrahmen (14).
12. Vorrichtung nach einem der Ansprüche 9 bis 11 , dadurch gekennzeichnet, dass dem optischen Messsystem (13) eine Reinigungsvorrichtung (16) zur Säuberung der zu erfassenden Markierung (13) und des Markierungsumfeldes zugeordnet ist. 12. Device according to one of claims 9 to 11, characterized in that the optical measuring system (13) is associated with a cleaning device (16) for cleaning the mark to be detected (13) and the marking environment.
13. Vorrichtung nach Anspruch 12, dadurch gekennzeichnet, dass die Reinigungsvorrichtung (16) eine mit Druckluft beaufschlagbare Düsenanordnung (17) zum Freiblasen der Markierung (13) und des Markierungsumfeldes aufweist. 13. The apparatus according to claim 12, characterized in that the cleaning device (16) has a pressurizable air pressure nozzle arrangement (17) for blowing out the marker (13) and the marking environment.
EP09716110.3A 2008-02-28 2009-02-18 Method and device for the positioning of operating units of a coal filling cart at the filling openings of a coke oven Active EP2247691B1 (en)

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WO2009106251A1 (en) 2009-09-03
AU2009218757A1 (en) 2009-09-03
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CA2715692A1 (en) 2009-09-03
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TWI477733B (en) 2015-03-21
US8821694B2 (en) 2014-09-02
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US20100314234A1 (en) 2010-12-16
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RU2484120C2 (en) 2013-06-10
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EP2247691B1 (en) 2016-07-20
CL2009000444A1 (en) 2010-05-07

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