EP2275342B1 - Procédé de réduction d'un mouvement vertical d'un bateau - Google Patents

Procédé de réduction d'un mouvement vertical d'un bateau Download PDF

Info

Publication number
EP2275342B1
EP2275342B1 EP10004837.0A EP10004837A EP2275342B1 EP 2275342 B1 EP2275342 B1 EP 2275342B1 EP 10004837 A EP10004837 A EP 10004837A EP 2275342 B1 EP2275342 B1 EP 2275342B1
Authority
EP
European Patent Office
Prior art keywords
vessel
vertical movement
movement
resonance region
way
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.)
Active
Application number
EP10004837.0A
Other languages
German (de)
English (en)
Other versions
EP2275342A1 (fr
Inventor
Luitpold Miller
Qinghua Zheng
Florian Dignath
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 Marine Systems GmbH
Original Assignee
ThyssenKrupp Marine Systems 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 ThyssenKrupp Marine Systems GmbH filed Critical ThyssenKrupp Marine Systems GmbH
Priority to PL10004837T priority Critical patent/PL2275342T3/pl
Publication of EP2275342A1 publication Critical patent/EP2275342A1/fr
Application granted granted Critical
Publication of EP2275342B1 publication Critical patent/EP2275342B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude

Definitions

  • the invention relates to a method for reducing a vertical movement of a watercraft.
  • the method according to the invention serves to reduce a vertical movement of a watercraft.
  • a vertical motion resonance range for motion states of the watercraft is first determined. Then, during the drive, the state of motion of the watercraft is at least partially detected and determined whether this is in the vertical motion resonance range.
  • a determination of the vertical motion resonance range in the sense of this invention is to be understood as meaning, in particular repeated or continuous, determination of the vertical motion resonance range during travel.
  • the vertical-motion resonance range can also be determined implicitly by determining whether the vertical movement unfolds, ie it is determined by observing the movement of the watercraft, whether the state of motion of the vessel coincides with a state of motion in the vertical motion resonance area.
  • the rolling motion of the watercraft forms the vertical movement and a rolling motion resonance area forms the vertical motion resonance area.
  • straight rolling movements are reduced which endanger driving safety and ride comfort particularly frequently.
  • the traveling speed and / or the heading of the vessel is changed until the vertical motion resonance area is exited.
  • the reduced vertical movement increases driving safety enormously.
  • capsizing of the vessel and possibly slipping or loss of cargo is safely avoided.
  • the originally intended course and the originally intended speed for the watercraft are preferably assumed again. In this way, it is only necessary to deviate from the planned course of the journey for a short time, so that when the method according to the invention is used, the envisaged total journey time also changes at best negligibly.
  • each rotation or. To understand displacement movement about or along a main axis of inertia of the vessel, which is a vertical motion component having. For example, the lifting and pitching movements fall under the vertical movement.
  • the course and / or the travel speed of the watercraft are preferably changed or changed as a function of the previously determined propagation speed and / or the propagation direction of the water waves. In this way, for example, certain encounter frequencies of water waves can be avoided with the vessel, in which a large proportion of the kinetic energy of the sea state can couple into the vertical movement.
  • the method at least by determining the frequency of encounter of the water waves with the vessel, it is determined whether the state of motion of the vessel is in the vertical motion resonance range.
  • water waves can excite vertical movements in the vertical motion resonance range, in particular, when the frequency of encounter of the water waves with the watercraft is close to a resonance frequency of a vertical motion resonance.
  • the frequency of encounter of the water waves with the vessel can be measured, for example, by detecting periodic movements of the vessel itself, such as by measuring the pitching motion of the vessel.
  • the vertical motion resonance range is preferably determined by determining at least one resonance frequency of the vertical movement.
  • the vertical motion resonance range represents a frequency interval including the resonance frequency.
  • the vertical motion resonance range can be determined by an integer fraction, for example half, or by an integer multiple of the resonance frequency of the vertical movement.
  • the vertical motion resonance area formed in preferred embodiments of the method by one or more frequencies, which are in a rational relationship with at least one resonance frequency of the vertical movement.
  • the phase of the water waves impinging on the vessel is changed relative to the vibration-like vertical movements of the vessel by course or travel speed changes of the vessel.
  • vibration-like vertical movements of the vessel can be damped at a suitable phase by the sea.
  • the state of motion of the vessel is at least partially detected, by determining at least one component of the location and / or orientation of the watercraft and / or their - in particular first - time derivation.
  • at least one further, in particular the second, time derivative of the component is determined.
  • the determination of the aforementioned variables may be understood, on the one hand, as a computational determination, for example in such a way that a time derivation of the variables to be determined is integrated over time.
  • An alternative mathematical determination can be made such that the variable to be determined itself represents a time derivative of a detected variable and is calculated from the time course of this detected variable.
  • determination can also be understood to mean a measurement, for example by means of sensors such as acceleration sensors or roll rate meters.
  • the state of motion of the watercraft is detected by relating at least two of the above-mentioned components to one another.
  • the course of the roll angle and the vertical position of the vessel are linked to each other.
  • the acquired data on the state of motion of the vessel or the movement of the water waves can be transformed, for example, into the earth-fixed coordinate system.
  • this data can then be filtered with a high-pass filter whose time constant is not limited by time scales on which rate changes occur.
  • a filtering be appropriate on long time scales to achieve the most accurate determination of the propagation direction of the water waves.
  • the change of course and / or travel speed of the watercraft by means of at least one machine and / or at least one actuator of the watercraft is expediently carried out automatically.
  • these actuators are the rudder (s), especially in cruise ships and yachts, for laterally mounted fins for roll stabilization, as well as submarines additionally or alternatively to the or the rudder.
  • all available actuators and / or the machine of the watercraft are used for this purpose.
  • the vertical motion damping is increased, provided that the state of motion of the vessel is located within the vertical motion resonance range.
  • the vertical motion damping is increased via a subordinate control method, which counteracts the vertical movement.
  • the vertical motion damping is increased by means of at least one or more devices from the group of machines, side fins, rudders, ailerons, for example divided, oppositely-moving ailerons and / or optionally further actuators.
  • these actuators need not be available solely for damping the vertical movement, but at the same time they can also be used to change the course and / or travel speed of the watercraft as described above.
  • the controls of the machine or the actuators for example, for adjusting rudder / fin angles, engine power, etc. - for the purpose of changing course or speed of the vessel and for the purpose of vertical motion damping suitable superimposed.
  • the damping can be taken into account by the machine or by the actuators in control circuits, which are designed to change the course or speed of the watercraft.
  • the controls for changing course or speed can also be done in subordinate control loops for damping the vertical movement by means of the machine or the actuators.
  • the respective drives can be added in a corresponding control.
  • the strength of the excitation of the vertical movement in a state of motion of the vessel within the vertical motion resonance range is reduced by the change of the pitch amplitude of the vessel, preferably by a subordinate control method, which counteracts the pitching movement.
  • a subordinate control method which counteracts the pitching movement.
  • the vertical motion resonance region is formed by a rolling motion resonance region. Just pitching movement and rolling motion often couple strongly with each other, so that pitching movements at a corresponding frequency can drive roll motions resonantly.
  • the intensity of the excitation of the vertical motion is reduced by the change of the yaw angle of the vessel, preferably by a subordinate control.
  • the ramming amplitude is influenced by means of at least one depth rudder of the watercraft.
  • the state of motion of the vessel is determined via an inertial platform.
  • the inventive method for reducing the vertical movement of a submarine is performed.
  • particularly parameter-excited rolling vibrations can occur in an intensified form during navigation, since their hull is not regularly optimized to avoid rolling movements. Rather, submarines for roll behavior on unfavorable mass geometric conditions. These unfavorable circumstances are suitably compensated by the method according to the invention.
  • the basis for the invention forming method reduces the rolling motion of a ship.
  • it is a cruise ship, a cargo ship or a submarine.
  • the method described can be used in a corresponding manner to reduce the pitching movement.
  • the state of motion of the ship is first detected.
  • sensors are provided which measure the state of motion of the ship in terms of its six degrees of freedom, d. H.
  • the position of the ship in the three spatial directions as well as the orientation of the ship are determined by means of the sensors.
  • the time derivatives of the aforementioned sizes are determined, d. H.
  • the speed of the ship along the three spatial directions and the angular velocities of the ship's rotational movements around its main axes of inertia are determined.
  • the determination of these time derivations is done either by a direct measurement via specially provided for this purpose sensors or mathematically from each time sequentially measured values of position and / or orientation of the ship.
  • the input data for the position or orientation of the ship can also be obtained from the temporal integration of the time derivatives of position and orientation of the ship.
  • the second time derivatives of the position and the orientation of the ship are also measured, so that the acceleration of the ship along the three spatial directions and the angular acceleration about the main axes of inertia of the ship are part of the input data.
  • the aforementioned set of input data forms a state vector x which describes the state of motion of the ship.
  • the method determines position data from the data of a satellite-based navigation system, such as the Global Positioning System (GPS).
  • GPS Global Positioning System
  • This position data forms another set of input data, which is summarized in a vector GPS .
  • the two aforementioned sets of input data x and GPS are fed to a filter device 1.
  • the data sets x and GPS are appropriately filtered and thus freed from interference.
  • redundant data for the input data x and GPS are available to the filter device 1 via further sensors, with which the filter device 1 carries out averaging of the input data.
  • the input data thus cleaned by filtering or averaging are available as data sets x and G p s for further processing.
  • predetermined set values for actuators of the ship are adjusted in a second filter device 2 by further subordinate control devices.
  • These target variables include, inter alia, the setpoint speed of a machine n , the desired angle of a rudder surface ⁇ 1 , in the case of a submarine the desired angle of the depth rudder ⁇ 2 and target values of other actuators.
  • the filter device 2 provides the adjusted nominal values ⁇ , ⁇ 1 and ⁇ 2 for further processing.
  • the proximity of the adjusted movement state x to the state of a parameter-excited rolling oscillation is determined on the basis of one or more defined criteria.
  • the proximity of the state of motion to the roll resonance state is characterized by a data set called resonant level RL .
  • a second evaluation device 4 the propagation direction of the water waves relative to the ship, the wave propagation speed and other characteristic magnitudes of the wave excitation are determined from the adjusted movement state x .
  • wave excitation q w a dataset, here referred to as wave excitation q w .
  • the evaluation device 4 is provided with the adjusted GPS data GPS , on the basis of which the wave excitation q w is transformed into an earth-fixed coordinate system, so that the influence of course and speed of the ship is calculated out.
  • the wave excitation q w is filtered. In particular, this filtering allows increased accuracy in determining the propagation direction of the water waves.
  • the resonant level RL, the cleared state of motion of the vessel x and the wave excitation q w are passed to a controller 6 which checks the resonant level RL to see if the state of motion of the vessel x is critically close to parameter-excited roll vibration, ie if the state of motion is within a roll resonance range is. If the state of motion of the watercraft is in the roll resonance range, the speed and the yaw angle of the ship are changed by means of a control law such that the distance of the movement state x to the state of the parameter-excited rolling vibration increases.
  • a suitable specification for changing the yaw angle depends essentially on the wave excitation q w , in particular on the propagation direction of the water waves.
  • the manipulated variables for speed and yaw angle change are formed by nominal variables O1 for the machine and nominal variables O2 for a rudder, which the existing on board, subordinate Aktorreglern 7 and 8 for the operation of these actuators be supplied. Also, the other actuators 6 setpoints O5 are specified by the control device.
  • Resonance level RL and adjusted movement state x are also transmitted to another control device 5.
  • the control device 5 first determines on the basis of the resonance level RL whether the movement state of the ship x is so close to a state of a parameter-excited rolling vibration that the ship's movement must be damped. If this is the case, set values for actuators of the ship are based on the movement state x according to a control law calculated, which are used for damping. In the embodiment shown, these are z. B. Nominal O3 for the side fins.
  • the controller determines 5 setpoints O4 for more directly acting on the roll and ramming behavior of the ship actuators, for example, the submarines in the case of submarines.
  • Aktorsoll sizes ⁇ , ⁇ 1 , ⁇ 2 are in the in Fig. 1 Embodiment considered internally in the controllers 5 and 6.
  • the setpoint variables O1 , O2 , ..., O5 for the actuators in the subordinate Aktorregiern 7, 8 and 9 are added, the filtering of the Aktorsoll variables ⁇ , ⁇ 1 , ⁇ 2 can be done completely separately via the filter device 2 ,

Landscapes

  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Vibration Prevention Devices (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Claims (11)

  1. Procédé de réduction d'un mouvement vertical d'un bateau, dans lequel on redéfinit tout d'abord une plage de résonance du mouvement vertical pour des états de mouvement (x) du bateau au cours de sa navigation, dans lequel, ensuite on détecte, au moins partiellement, l'état de mouvement (x) du bateau pendant la navigation en définissant au moins une composante de la position et/ou de l'orientation du bateau et/ou sa dérivée temporelle et en déterminant si cet état de mouvement (x) se situe dans la plage de résonance du mouvement vertical, après quoi, s'il est constaté que cet état de mouvement (x) se situe dans la plage de résonance du mouvement vertical, on modifie la vitesse de déplacement du bateau et/ou la route jusqu'à ce que l'on quitte la plage de résonance du mouvement vertical, un mouvement de roulis formant le mouvement vertical et la plage de résonance du mouvement vertical étant formée par une plage de résonance du mouvement de roulis.
  2. Procédé selon la revendication 1, dans lequel on définit la plage de résonance du mouvement vertical en déterminant au moins une fréquence de résonance du mouvement vertical.
  3. Procédé selon l'une des revendications précédentes, dans lequel, pour détecter au moins partiellement l'état de mouvement (x) du bateau, on détermine la première dérivée temporelle d'une composante de la position et/ou de l'orientation du bateau.
  4. Procédé selon l'une des revendications précédentes, dans lequel, pour détecter au moins partiellement l'état de mouvement (x) du bateau, on utilise des données (GPS) d'un système de navigation par satellite.
  5. Procédé selon l'une des revendications précédentes, dans lequel la modification de la route et/ou de la vitesse de déplacement du bateau s'effectue automatiquement au moyen d'au moins une machine et/ou d'au moins un actionneur du bateau.
  6. Procédé selon l'une des revendications précédentes, dans lequel, en présence d'un état de mouvement (x) du bateau se situant dans la plage de résonance du mouvement vertical, on augmente l'amortissement du mouvement vertical, de préférence via un procédé de régulation subordonné qui s'oppose au mouvement vertical.
  7. Procédé selon la revendication 6, dans lequel l'amortissement du mouvement vertical est augmenté au moyen d'au moins l'un ou plusieurs des dispositifs suivants : machine, dérives, gouvernes de direction, gouvernes de profondeur et/ou autres actionneurs du bateau.
  8. Procédé selon la revendication 5 et 7, dans lequel, en présence d'un état de mouvement (x) du bateau se situant dans la plage de résonance du mouvement vertical, on utilise un ou plusieurs actionneurs et/ou une ou plusieurs machines du bateau tant pour modifier la route et/ou la vitesse de déplacement du bateau que pour augmenter l'amortissement du mouvement vertical.
  9. Procédé selon l'une des revendications précédentes, dans lequel, en présence d'un état de mouvement (x) du bateau se situant dans la plage de résonance du mouvement vertical, on diminue la force d'excitation du mouvement vertical en modifiant l'amplitude de tangage du bateau, de préférence par un procédé de régulation subordonné qui s'oppose au mouvement de tangage.
  10. Procédé selon la revendication 9, dans lequel on influe sur l'amplitude de tangage au moyen d'au moins une gouverne de profondeur du bateau.
  11. Procédé selon l'une des revendications précédentes, dans lequel on détermine l'état de mouvement (x) du bateau au moyen d'une plateforme inertielle.
EP10004837.0A 2009-07-10 2010-05-07 Procédé de réduction d'un mouvement vertical d'un bateau Active EP2275342B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL10004837T PL2275342T3 (pl) 2009-07-10 2010-05-07 Sposób zmniejszania ruchu pionowego pojazdu wodnego

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102009032577A DE102009032577A1 (de) 2009-07-10 2009-07-10 Verfahren zur Verminderung einer Vertikalbewegung eines Wasserfahrzeugs

Publications (2)

Publication Number Publication Date
EP2275342A1 EP2275342A1 (fr) 2011-01-19
EP2275342B1 true EP2275342B1 (fr) 2014-10-22

Family

ID=43066522

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10004837.0A Active EP2275342B1 (fr) 2009-07-10 2010-05-07 Procédé de réduction d'un mouvement vertical d'un bateau

Country Status (5)

Country Link
EP (1) EP2275342B1 (fr)
KR (1) KR101310247B1 (fr)
DE (1) DE102009032577A1 (fr)
ES (1) ES2528054T3 (fr)
PL (1) PL2275342T3 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013010573B4 (de) * 2013-06-25 2017-09-28 Dirk Sobotka Verfahren zur zyklischen Manipulation von Stellgrößen zur Schubsteuerung von Schiffen in begrenzten Wassertiefen
CN107589728B (zh) * 2017-09-04 2020-02-14 重庆浦仁达科技有限公司 一种智能车钟控制系统及方法

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004020924A1 (de) * 2003-11-11 2005-07-07 Tuhh-Technologie-Gmbh Vorrichtung zur gleichzeitigen Steuerung und Rolldämpfung von Schiffen
KR100827396B1 (ko) * 2006-11-14 2008-05-07 삼성중공업 주식회사 선박의 파라메트릭 횡동요 방지장치 및 방법

Also Published As

Publication number Publication date
ES2528054T3 (es) 2015-02-03
DE102009032577A1 (de) 2011-01-20
PL2275342T3 (pl) 2015-03-31
KR101310247B1 (ko) 2013-09-24
KR20120065461A (ko) 2012-06-21
EP2275342A1 (fr) 2011-01-19

Similar Documents

Publication Publication Date Title
WO2010136490A1 (fr) Procédé de commande d'un bateau assisté par ordinateur
EP1880971B1 (fr) Procédé de commande de l'orientation d'une charge de grue
DE102018000467A1 (de) Robotersystem, das eine kraftgesteuerte Schiebevorrichtung umfasst
DE60318919T2 (de) Fahrzeugsteuervorrichtung mit Servolenkung
DE112007002946B4 (de) Fahrzeugsteuervorrichtung
EP2137503B1 (fr) Procédé de détermination de centres de gravité de masse de structures de grande taille
EP2636632B1 (fr) Commande de grue avec limite d'entraînement
EP3409636B1 (fr) Procédé permettant d'amortir des vibrations de torsion d'un élément de réception de charge d'un dispositif de levage
DE102018005068A1 (de) Kran und Verfahren zum Steuern eines solchen Krans
WO2004106215A1 (fr) Grue ou excavatrice destinee a la manipulation d'une charge suspendue a un cable presentant un systeme de guidage optimise
EP1722197B1 (fr) Procédé et dispositif destinés à la représentation de l'emplacement et de l'état de déplacement d'une charge oscillante
EP2275342B1 (fr) Procédé de réduction d'un mouvement vertical d'un bateau
EP3442839B1 (fr) Procédé et dispositif pour déterminer un mouvement d'embardée d'un véhicule, constituant un risque pour la sécurité
WO2011131375A1 (fr) Fonctionnement d'une machine de mesure de coordonnées ou d'une machine outil
WO2017182041A1 (fr) Dispositif et procédé pour déterminer une cinématique d'un objet mobile
EP2947035A1 (fr) Procédé de détermination de la charge d'une machine de travail et machine de travail, en particulier une grue
DE19803078B4 (de) Verfahren und Einrichtung zur automatischen Bahnführung eines Schiffes mit integriertem Bahnregler
DE102016114366A1 (de) Ausfallsicheres imu-system reduzierter ordnung für aktive sicherheitsanwendung
DE19807525B4 (de) Einrichtung zur Bahnregelung für einen von einem Wasserfahrzeug an einer Schleppverbindung geschleppten, in seiner Horizontalbewegung nicht selbst steuerbaren oder gesteuerten Schleppanhang
DE102015209217B3 (de) Verfahren und System zum Bereitstellen einer Trajektorie zur Vermeidung einer Fahrzeugkollision
EP2377756B1 (fr) Evaluation de la dynamique d'un bateau
DE102019200117A1 (de) Robotersteuerung
DE19813005A1 (de) Verfahren und Anordnung zur Führung und automatischen Steuerung von Schiffen oder schwimmenden Anlagen
EP3321163B1 (fr) Procédé d'amortissement du mouvement de roulis d'une embarcation
DE10354650A1 (de) Fahrspurvorrichtung und Verfahren zur Ermittlung von Fahrspurverlaufsdaten für ein Fahrzeug

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: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME RS

17P Request for examination filed

Effective date: 20110715

17Q First examination report despatched

Effective date: 20120120

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

Owner name: THYSSENKRUPP MARINE SYSTEMS GMBH

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20140513

RIN1 Information on inventor provided before grant (corrected)

Inventor name: MILLER, LUITPOLD

Inventor name: DIGNATH, FLORIAN

Inventor name: ZHENG, QINGHUA

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): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK SM 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: 692491

Country of ref document: AT

Kind code of ref document: T

Effective date: 20141115

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: 502010008090

Country of ref document: DE

Effective date: 20141204

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2528054

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20150203

REG Reference to a national code

Ref country code: DE

Ref legal event code: R084

Ref document number: 502010008090

Country of ref document: DE

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: NL

Ref legal event code: T3

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

REG Reference to a national code

Ref country code: PL

Ref legal event code: T3

REG Reference to a national code

Ref country code: DE

Ref legal event code: R084

Ref document number: 502010008090

Country of ref document: DE

Effective date: 20150206

REG Reference to a national code

Ref country code: NO

Ref legal event code: T2

Effective date: 20141022

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

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150223

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: 20141022

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: 20150222

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: 20141022

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

Ref country code: HR

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: 20141022

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: 20141022

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: 20141022

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: 20150123

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502010008090

Country of ref document: DE

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

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20141022

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: 20141022

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: 20141022

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: 20141022

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: 20141022

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

26N No opposition filed

Effective date: 20150723

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

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

Ref country code: 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: 20141022

Ref country code: LU

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: 20150507

Ref country code: CH

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

Effective date: 20150531

Ref country code: LI

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

Effective date: 20150531

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: 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: 20141022

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: 20150507

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 7

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 692491

Country of ref document: AT

Kind code of ref document: T

Effective date: 20150507

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: 20150507

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: 20141022

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 8

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: 20100507

Ref country code: SM

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: 20141022

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: 20141022

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: 20150531

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 9

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

Ref country code: MK

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: 20141022

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

Ref country code: AL

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: 20141022

REG Reference to a national code

Ref country code: DE

Ref legal event code: R081

Ref document number: 502010008090

Country of ref document: DE

Owner name: THYSSENKRUPP MARINE SYSTEMS GMBH, DE

Free format text: FORMER OWNER: THYSSENKRUPP MARINE SYSTEMS GMBH, 24143 KIEL, DE

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

Ref country code: PL

Payment date: 20200424

Year of fee payment: 11

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 NON-PAYMENT OF DUE FEES

Effective date: 20210507

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

Ref country code: NO

Payment date: 20230523

Year of fee payment: 14

Ref country code: NL

Payment date: 20230519

Year of fee payment: 14

Ref country code: IT

Payment date: 20230526

Year of fee payment: 14

Ref country code: FR

Payment date: 20230526

Year of fee payment: 14

Ref country code: DE

Payment date: 20220801

Year of fee payment: 14

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

Ref country code: TR

Payment date: 20230505

Year of fee payment: 14

Ref country code: SE

Payment date: 20230519

Year of fee payment: 14

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

Ref country code: GB

Payment date: 20230524

Year of fee payment: 14

Ref country code: ES

Payment date: 20230724

Year of fee payment: 14