EP2656977A2 - Outil électrique et son procédé de fonctionnement - Google Patents

Outil électrique et son procédé de fonctionnement Download PDF

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Publication number
EP2656977A2
EP2656977A2 EP13163732.4A EP13163732A EP2656977A2 EP 2656977 A2 EP2656977 A2 EP 2656977A2 EP 13163732 A EP13163732 A EP 13163732A EP 2656977 A2 EP2656977 A2 EP 2656977A2
Authority
EP
European Patent Office
Prior art keywords
power tool
sensor
fault
transmission path
detected
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
EP13163732.4A
Other languages
German (de)
English (en)
Other versions
EP2656977A3 (fr
EP2656977B1 (fr
Inventor
Christoph Steurer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2656977A2 publication Critical patent/EP2656977A2/fr
Publication of EP2656977A3 publication Critical patent/EP2656977A3/fr
Application granted granted Critical
Publication of EP2656977B1 publication Critical patent/EP2656977B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25F—COMBINATION OR MULTI-PURPOSE TOOLS NOT OTHERWISE PROVIDED FOR; DETAILS OR COMPONENTS OF PORTABLE POWER-DRIVEN TOOLS NOT PARTICULARLY RELATED TO THE OPERATIONS PERFORMED AND NOT OTHERWISE PROVIDED FOR
    • B25F5/00—Details or components of portable power-driven tools not particularly related to the operations performed and not otherwise provided for

Definitions

  • the invention relates to a method for operating a power tool according to claim 1, as well as a power tool according to claim 10.
  • Power tools are known in the art. For example, there are electrically operated screwdrivers, hammers, saws and garden tools. It is known to equip such power tools with sensors that are used to detect an uncontrolled movement of the power tool. For example, acceleration and yaw rate sensors are used as sensors. An uncontrolled movement may occur, for example, if the power tool is accidentally dropped. If such an uncontrolled movement occurs, there is a risk that a user of the power tool will be injured by the power tool. In addition, there is a risk of damage to the power tool. It is known from the prior art to reduce both risks by setting a function of the power tool or changing an operating point of the power tool when an uncontrolled movement is detected.
  • a problem of known power tools with a sensor for detecting an uncontrolled movement is that when a fault in the sensor or a fault in a transmission path between the sensor and an evaluation circuit no reliable detection of uncontrolled movement is possible. Then, in case of occurrence of an uncontrolled movement of the power tool, no adjustment of a function of the power tool and no change of an operating point of the power tool occurs. This may result in a risk of injury to one Users of the power tool and a risk of damage to the power tool.
  • a fault in the sensor and a fault in the transmission path between the sensor and the evaluation circuit can then be detected promptly. As a result, an undetected failure of the sensor and / or the transmission path is prevented.
  • the test is carried out periodically.
  • it is then ensured that the test is carried out regularly and sufficiently frequently, so that a fault in the sensor or the transmission path is detected within a defined time.
  • this is performed during operation of the power tool.
  • disturbances of the sensor or the transmission path which occur during the operation of the power tool are thereby detected, as a result of which a decrease in operational safety of the power tool during operation can be counteracted.
  • this is carried out during a service break of the power tool.
  • a break in operation of the power tool is a particularly thorough test possible, without this resulting in a deterioration of a user comfort.
  • an acoustic and / or visual warning is issued to a user of the power tool if a fault has been detected.
  • the user is then informed by the acoustic and / or optical warning about the failure of the sensor or the transmission path. This has the advantage that the user of the power tool can then initiate a repair of the power tool. In addition, it is advantageously prevented that the user relies on a no longer functioning safety or comfort function of the power tool.
  • an operating mode of the power tool is changed if a fault has been detected.
  • this achieves a proactive increase in security.
  • the operating mode is changed so that a risk for a user of the power tool and / or a risk of damage to the power tool are reduced.
  • a risk for a user of the power tool and / or a risk of damage to the power tool are reduced.
  • no danger if the power tool exposed to an uncontrolled movement, for example, dropped, while the sensor or the transmission path are disturbed.
  • a function of the power tool is switched off if a fault has been detected.
  • this represents a particularly safe change of the operating mode of the power tool.
  • the senor is read out, whereby a malfunction of the sensor or of the transmission path is detected if a value read out by the sensor lies outside a defined value range.
  • this represents a reliable possibility, a fault a sensor or a transmission path between the sensor and an evaluation circuit to recognize.
  • the sensor is a three-axis acceleration sensor.
  • three values determined by the sensor are read out repeatedly, specifying the accelerations acting in three spatial directions. From the three values a sum value is formed in each case.
  • a fault in the sensor or the transmission path is detected if a time average of the summation values differs by more than a specified limit from the value of the gravitational acceleration.
  • the knowledge is used that the accelerations acting on the sensor should add up to the value of the gravitational acceleration in the time average. If this is not the case, it can be concluded reliably on a malfunction of the sensor or the transmission path.
  • an integrated self-test functionality of the sensor is performed.
  • a malfunction of a sensor with such an integrated self-test functionality can be detected particularly easily and reliably.
  • a power tool according to the invention is designed to carry out a method of the type described above.
  • it is prevented in this power tool that a safety function of the power tool is ineffective due to a fault in a sensor or a transmission path between the sensor and an evaluation circuit. This advantageously increases the safety of the power tool.
  • FIG. 1 12 shows a schematic block diagram of a first power tool 100.
  • the power tool 100 may be a portable, a semi-stationary, or a stationary power tool.
  • the power tool 100 may be a battery-operated or a mains powered power tool.
  • the power tool 100 can be, for example, an electrically operated screwdriver, an electrically operated hammer, an electrically operated saw or an electrically operated gardening tool.
  • the power tool 100 has a sensor 120, which serves to detect an uncontrolled movement of the power tool 100. Such uncontrolled movement of the power tool 100 may occur, for example, when the power tool 100 is accidentally dropped or when the power tool 100 falls over.
  • the sensor 120 may be, for example, an acceleration sensor or a rotation rate sensor.
  • the electric tool 100 has an evaluation circuit 110, which is connected to the sensor 120 via a transmission path 125.
  • the transmission link 125 may be a wired transmission link or a wireless transmission link.
  • the evaluation circuit 110 is provided to read out the sensor 120 via the transmission path 125 and to receive one or more measured values determined by the sensor 120 via the transmission path 125.
  • the evaluation circuit 110 can also be designed to transmit data and / or control signals to the sensor 120.
  • the evaluation circuit 110 can transmit data and signals to the sensor 120 in order to configure the sensor 120.
  • the evaluation circuit 110 may be designed as analog or as a digital circuit.
  • the power tool 100 could also have a plurality of sensors 120 which are each connected to the evaluation circuit 110 via transmission links 125.
  • the evaluation circuit 110 can detect an occurrence of an uncontrolled Detect movement of the power tool 100. If the sensor 120 is, for example, an acceleration sensor, the evaluation circuit 110 may, for example, infer an occurrence of a sudden, strong acceleration on an uncontrolled movement of the power tool 100. If the sensor 120 is a yaw rate sensor, the evaluation circuit 110 may conclude that an abrupt high rate of rotation has occurred as a result of an uncontrolled movement of the power tool 100. If the power tool 100 has a plurality of sensors 120, then the evaluation circuit 110 can suitably link the measured values supplied by the plurality of sensors 120 in order to increase the reliability of the detection of an uncontrolled movement of the power tool 100.
  • Both dangers can be reduced by placing the power tool 100 in an operating mode that has changed compared to the normal operating mode of the power tool 100 when an uncontrolled movement of the power tool 100 occurs.
  • a function of the power tool 100 may be terminated or an operating point of the power tool 100 may be changed.
  • a rotational speed of a motor of the power tool 100 can be reduced or a motor of the power tool 100 can be switched off completely.
  • the evaluation circuit 110 is connected for this purpose with a motor controller 130 which drives a motor 135 of the power tool 100. If the evaluation circuit 110 detects an occurrence of an uncontrolled movement of the power tool 100, then the evaluation circuit 110 instructs the motor control 130 to decelerate or stop the motor 135 of the power tool 100.
  • the evaluation circuit 110 and the motor controller 130 may also be integrated in a simplified embodiment in a common circuit.
  • the evaluation circuit 110 could also take no measures to reduce a risk to a user of the power tool 100 and / or a risk of damage to the power tool 100. For example, the evaluation circuit 110 may not instruct the engine controller 130 to stop the engine 135. Thus, the described safety function of the power tool 100 would be ineffective without a user of the power tool 100 receives knowledge thereof.
  • the power tool 100 is designed to detect a malfunction of the sensor 120 and / or a malfunction of the transmission path 125 between the sensor 120 and the evaluation circuit 110.
  • the power tool 100 leads in the flowchart of FIG. 2 schematically illustrated method 200 by.
  • a first method step 210 it is checked whether the sensor 120 or the transmission path 125 between the sensor 120 and the evaluation circuit 110 has a fault. If it is determined in a second method step 220 that there is no malfunction, the method 200 is continued again with the first method step 210, that is, with a renewed check of the sensor 120 and the transmission path 125.
  • the repetition of the first method step 210 preferably takes place periodically. For example, the first method step 210 may be repeated every five seconds or once a minute.
  • the testing of the functionality of the sensor 120 and the transmission path 125 in the first method step 210 can be carried out, for example, by reading out a measured value determined by the sensor 120 by the evaluation circuit 110. If the value transmitted by the sensor 120 via the transmission path 125 to the evaluation circuit 110 lies outside a defined value range, it is possible to conclude that the sensor 120 or the transmission path 125 has failed.
  • the evaluation circuit 110 forms a sum value from the three values. After a fixed number of repetitions of the first method step 210, a time average of these summation values should settle to a value which differs from the value of the gravitational acceleration by less than a defined limit value. If this is not the case, the evaluation circuit 110 can conclude that there is a fault in the sensor 120 or the transmission path 125. When determining the time average of the total values, the total values can also be filtered.
  • the evaluation circuit 110 can also charge the sensor 120 for checking the sensor 120 and the transmission path 125 in the first method step 210 with a data or control value and evaluate a response of the sensor 120.
  • the evaluation circuit 110 may describe the sensor 120 with a configuration value and determine whether the sensor 120 has been properly configured based on a response signal of the sensor 120 received via the transmission path 125. If this is not the case, it is determined in the second method step 120 that there is a malfunction of the sensor 120 and / or a malfunction of the transmission path 125 between the sensor 120 and the evaluation circuit 110.
  • the sensor 120 may also be equipped with integrated self-test functionality.
  • the integrated self-test functionality of the sensor 120 is executed.
  • the mentioned test options can also be combined with each other.
  • the power tool 100 has in FIG. 1 illustrated embodiment, an optical warning device 140 and an acoustic warning device 150, both of which are connected to the evaluation circuit 110.
  • the optical warning device 140 may be a warning lamp of the power tool 100. It would also be conceivable, a Bohrstellenbeleuchtung of the power tool 100 to flash.
  • the acoustic warning device 150 may be, for example, a loudspeaker via which a warning sound can be output.
  • a third method step 230 an optical warning and / or an acoustic warning to a user of the power tool 100 are spent.
  • the evaluation circuit 110 activates the optical warning device 140 and the acoustic warning device 150 in the third method step 230.
  • the optical warning device 140 and / or the acoustic warning device 150 and / or the entire third method step 230 can also omitted.
  • an operating mode of the electric tool 100 can also be changed.
  • the same measures can be taken, which are also taken if an occurrence of an uncontrolled movement of the power tool 100 is detected.
  • the evaluation circuit 110 of the power tool 100 can instruct the motor controller 130 to stop the motor 135 of the power tool 100.
  • the fourth method step advantageously ensures that a possible actual occurrence of an uncontrolled movement of the power tool 100, which is not recognized due to the fault of the sensor 120 or the transmission path 125, does not endanger a user of the power tool 100 or damage the power tool 100 can lead.
  • the fourth method step 240 can also be omitted in a simplified embodiment of the method 200.
  • FIG. 3 12 shows a schematic block diagram of a second power tool 1100.
  • the power tool 1100 may in turn be a portable, semi-stationary, or a stationary power tool. For example, it can also be at the power tool 1100 to act an electrically operated screwdriver or an electrically operated gardening tool.
  • the second power tool 1100 is constructed similarly to the first power tool 100. In FIG. 3 only those parts of the second power tool 1100 are shown, in which the second power tool 1100 differs from the first power tool 100. The remaining components of the first power tool 100 are also present in the second power tool 1100 and will not be described again below.
  • the power tool 1100 has a first sensor 1120 and a second sensor 2120.
  • the sensors 1120, 2120 are designed as micromechanical sensors.
  • the sensors 1120, 2120 may be yaw rate sensors or acceleration sensors. Both sensors 1120, 2120 serve to detect an uncontrolled movement of the power tool 1100.
  • the first sensor 1120 has a first micromechanical element 1121 and a first internal circuit 1122.
  • the second sensor 2120 has a second micromechanical element 2121 and a second internal circuit 2122.
  • the internal circuits 1122, 2122 of the sensors 1120, 2120 may be configured, for example, as application-specific integrated circuits (ASIC).
  • ASIC application-specific integrated circuits
  • the internal circuits 1122, 2122 may also include memory devices for storing data.
  • the internal circuits 1122, 2122 serve to read out, process, store and pass on measured values determined by the micromechanical elements 1121, 2121 to an evaluation and control circuit 1110 of the power tool 1100.
  • the first sensor 1120 is connected to the evaluation and control circuit 1100 via a first transmission link 1125.
  • the second sensor 2120 is connected to the evaluation and control circuit 1110 via a second transmission path 2125.
  • the first transmission link 1125 comprises a first interface 1126 and a first interrupt line 1127.
  • the second transmission link 2125 comprises a second interface 2126, a second interrupt line 2127 and a third interrupt line 2128.
  • the interfaces 1126, 2126 of the transmission links 1125, 2125 serve to transfer data between the evaluation and control circuit 1110 and the internal Circuits 1122, 2122 of the sensors 1120, 2120 to exchange.
  • measured values from the sensors 1120, 2120 to the evaluation and control circuit 1110 can be transmitted via the transmission links 1125, 2125, and configuration parameters can be transmitted from the evaluation and control circuit 1110 to the sensors 1120, 2120.
  • the interrupt lines 1127, 2127, 2128 serve to inform the evaluation and control circuit 1110 of the occurrence of this event in the event of the occurrence of a specified event. If the internal circuits 1122, 2122 of the sensors 1120, 2120 detect that a predetermined event has occurred, they apply a specified signal to one of the respective interrupt lines 1127, 2127, 2128 to the evaluation and control circuit 1110 thereof to inform. By using the interrupt lines 1127, 2127, 2128, it is not necessary for the evaluation and control circuit 1110 to continuously poll the sensors 1120, 2120 to determine if any of the specified events has occurred.
  • the first sensor 1120 and the second sensor 2120 may be identical. In this case, the second sensor 2120, the third interrupt line 2128 omitted.
  • the sensors 1120, 2120 can then be provided as redundant sensors to increase reliability.
  • the first sensor 1120 and the second sensor 2120 can also be designed differently. In this case, the first sensor 1120 and the second sensor 2120 may complement each other to detect a greater variety of different uncontrolled movements of the power tool 1100.
  • the first sensor 1120 may be an acceleration sensor and the second sensor 2120 may be a rotation rate sensor.
  • either the first sensor 1120 or the second sensor 2120 may be dispensed with.
  • the evaluation and control circuit 1110 of the second power tool 1100 is configured to detect an occurrence of uncontrolled movement of the power tool 1100 and to take action, if necessary, to reduce a danger emanating from the second power tool 1100.
  • the second power tool 1100 is configured to detect a failure of the sensors 1120, 2120 and / or the transmission links 1125, 2125.
  • the second power tool 1100 leads in FIG. 2 schematically illustrated method 200 by.
  • the evaluation and control circuit 1110 may describe the first sensor 1120 and / or the second sensor 2120 with a test parameter set. In this way it can be checked whether the communication between the evaluation and control circuit 1110 and the sensor 1120, 2120 is functioning, and whether the sensor 1120, 2120 stores the parameter set.
  • the test parameter set may, for example, state that the micromechanical element 1121, 2121 of the sensor 1120, 2120 should detect acceleration values in a measuring range up to, for example, sixteen times the acceleration of gravity.
  • the internal circuit 1122, 2122 of the sensor 1120, 2120 is intended to filter the recorded measured values with a low-pass filter having a limiting frequency of, for example, 15 Hz.
  • the sensor 1120, 2120 should trigger an interrupt via one of the interrupt lines 1127, 2127, 2128. If the power tool 1100 is known to be at rest, then such a large acceleration does not occur. Consequently, the sensor 1120, 2120 must not trigger an interrupt after receiving this parameter set, otherwise there is a fault. As a result, the method described allows a check of the interrupt lines 1127, 2127, 2128.
  • the evaluation and control circuit 1110 may describe the first sensor 1120 and / or the second sensor 2120 with a parameter set that instructs the sensor 1120, 2120 to record acceleration values in a measuring range up to, for example, 16 times the acceleration of gravity and the recorded measured values with a Filter low-pass filter with a cutoff frequency of 15 Hz, for example.
  • the amounts of the determined measured values in the x-, y- and z-direction should be summed up.
  • the sensor 1120, 2120 is intended to trigger an interrupt if an acceleration of, for example, less than twice the acceleration due to gravity occurs.
  • the sensor 1120, 2120 should thus trigger an interrupt via the interrupt line 1127, 2127, 2128 after receiving this parameter set. Otherwise there is a fault.
  • the configuration parameters are transmitted by the evaluation and control circuit 1100 in each case via the interface 1126, 2126 of the transmission path 1125, 2125 to the sensor 1120, 2120.
  • the evaluation and control circuit 1110 can read out the configuration parameters transmitted to the sensor 1120, 2120 after writing in order to check the functionality of the interface 1126, 2126.
  • the described tests of the interrupt lines 1127, 2127, 2128 in the power tool 1100, which is known to be at rest, may be performed, for example, to complete production of the power tool 1100 as part of a tape end test. At this time, a possibly possible self-test of the sensors 1120, 2120 can be performed.
  • the tests described here have the advantage that the power tool 1100 does not have to be moved or rotated during the execution of these tests.
  • the described tests may also be performed repeatedly after the manufacture of the power tool 1100 when the power tool 1100 is known to be at rest, for example, when a user of the power tool 1100 has turned it off and stored.
  • the described filtering and adding up of the measured values determined by the micromechanical elements 1121, 2121 and the comparison of these measured values with defined threshold values can, as described, preferably be performed by the internal circuits 1122, 2122 of the sensors 1120, 2120. If the sensors 1120, 2120 have no suitable internal circuits 1122, 2122, the described filtering, adding and checking of the measured values can also be carried out by the evaluation and control circuit 1110.
  • the internal circuits 1122, 2122 of the sensors 1120, 2120 can independently carry out an evaluation of the measured values recorded by the micromechanical elements 1121, 2121, then further possibilities for testing and interrupt generation can additionally be set by logical combinations. For example, it would be possible to use a "new data interrupt", which is triggered as soon as the sensor 1120, 2120 has processed new measurement data. This interrupt must occur periodically, depending on the set filter frequency. The described tests can also be combined with each other to detect as many possible errors as possible.
  • the described tests which include describing the sensors 1120, 2120 with test parameter sets, can not readily be performed because the sensors 1120, 2120 are operative to detect an occurrence of uncontrolled movement of the power tool 1100 during operation of the power tool 1100 Power tool must be configured 1100 suitable parameters. If, however, as with the second power tool 1100, two sensors 1120, 2120 are present, then one of the sensors 1120, 2120 can always be checked, while the other sensor 2120, 1120 serves to detect an occurrence of an uncontrolled movement. In the case of the second sensor 2120 equipped with two interrupt lines 2127, 2128, the described "new data interrupt" test can also be carried out simultaneously with a detection of an occurrence of an uncontrolled movement. When an uncontrolled movement occurs, the second sensor 2120 then triggers an interrupt on the second interrupt line 2127, for example. On the other hand, the "new data interrupt" is triggered on the third interrupt line 2128.
  • both sensors 1120, 2120 can be operated simultaneously in the same operating mode.
  • the measured values determined by the two sensors 1120, 2120 can then be compared with one another by the evaluation and control circuit 1110. If the values determined by the two sensors 1120, 2120 deviate from one another, this indicates the existence of a fault.
  • the further course of the method 200 is carried out in the second power tool 1100 exactly as in the first power tool 100. If the presence of an error is detected in the second method step 220, a warning can be output in the third method step 230. In addition, in the fourth process step, an operation mode of the second power tool 1100 may be changed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Testing Electric Properties And Detecting Electric Faults (AREA)
  • Testing Of Short-Circuits, Discontinuities, Leakage, Or Incorrect Line Connections (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)
EP13163732.4A 2012-04-26 2013-04-15 Outil électrique et son procédé de fonctionnement Active EP2656977B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012206894 2012-04-26
DE201210212377 DE102012212377A1 (de) 2012-04-26 2012-07-16 Elektrowerkzeug und Verfahren zu seinem Betrieb

Publications (3)

Publication Number Publication Date
EP2656977A2 true EP2656977A2 (fr) 2013-10-30
EP2656977A3 EP2656977A3 (fr) 2015-12-23
EP2656977B1 EP2656977B1 (fr) 2019-01-02

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EP13163732.4A Active EP2656977B1 (fr) 2012-04-26 2013-04-15 Outil électrique et son procédé de fonctionnement

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EP (1) EP2656977B1 (fr)
DE (1) DE102012212377A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10981267B2 (en) 2017-10-26 2021-04-20 Milwaukee Electric Tool Corporation Kickback control methods for power tools
US11529725B2 (en) 2017-10-20 2022-12-20 Milwaukee Electric Tool Corporation Power tool including electromagnetic clutch
US11705721B2 (en) 2020-03-10 2023-07-18 Milwaukee Electric Tool Corporation Kickback control methods for a power tool including a force sensor
US20230278153A1 (en) * 2020-07-01 2023-09-07 Festool Gmbh Power tools including electronic safety mechanisms with supervisory circuits

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19857061C2 (de) * 1998-12-10 2000-11-02 Hilti Ag Verfahren und Einrichtung zur Vermeidung von Unfällen bei handgeführten Werkzeugmaschinen durch Werkzeugblockieren
DE10330251A1 (de) * 2003-07-04 2005-01-20 Robert Bosch Gmbh Verfahren und Vorrichtung zur Sicherung der Qualität der Messwertaufnahme eines Drucksensors

Non-Patent Citations (1)

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Title
None

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11529725B2 (en) 2017-10-20 2022-12-20 Milwaukee Electric Tool Corporation Power tool including electromagnetic clutch
US10981267B2 (en) 2017-10-26 2021-04-20 Milwaukee Electric Tool Corporation Kickback control methods for power tools
US11607790B2 (en) 2017-10-26 2023-03-21 Milwaukee Electric Tool Corporation Kickback control methods for power tools
US11648655B2 (en) 2017-10-26 2023-05-16 Milwaukee Electric Tool Corporation Kickback control methods for power tools
US11705721B2 (en) 2020-03-10 2023-07-18 Milwaukee Electric Tool Corporation Kickback control methods for a power tool including a force sensor
US20230278153A1 (en) * 2020-07-01 2023-09-07 Festool Gmbh Power tools including electronic safety mechanisms with supervisory circuits

Also Published As

Publication number Publication date
EP2656977A3 (fr) 2015-12-23
DE102012212377A1 (de) 2013-10-31
EP2656977B1 (fr) 2019-01-02

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