EP3118152B1 - Procédé de commande de la vitesse d'un chariot de manutention pour la préparation de commandes - Google Patents

Procédé de commande de la vitesse d'un chariot de manutention pour la préparation de commandes Download PDF

Info

Publication number
EP3118152B1
EP3118152B1 EP16177585.3A EP16177585A EP3118152B1 EP 3118152 B1 EP3118152 B1 EP 3118152B1 EP 16177585 A EP16177585 A EP 16177585A EP 3118152 B1 EP3118152 B1 EP 3118152B1
Authority
EP
European Patent Office
Prior art keywords
industrial truck
truck
control device
distance
obstacle
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
EP16177585.3A
Other languages
German (de)
English (en)
Other versions
EP3118152A1 (fr
Inventor
Volker Viereck
Thomas Wittmann
Tino Krüger-Basjmeleh
Christian Fischer
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.)
STILL GmbH
Original Assignee
STILL 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
Priority claimed from DE102015113445.4A external-priority patent/DE102015113445A1/de
Application filed by STILL GmbH filed Critical STILL GmbH
Publication of EP3118152A1 publication Critical patent/EP3118152A1/fr
Application granted granted Critical
Publication of EP3118152B1 publication Critical patent/EP3118152B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07581—Remote controls

Definitions

  • the invention relates to a method for controlling the speed of a picking truck.
  • the invention relates to a method for controlling an industrial truck, such as for picking, wherein the truck has an optical sensor with a monitoring area, which is connected to a control device, and the control device automatically after a start command the truck without signal of a driven by a person driving signal generator moves, detects a monitoring area in the direction of travel of the truck by evaluating the data of the optical sensor
  • a generic method is from the EP 0 458 722 A1 known.
  • picking trucks When picking in warehouses special picking trucks are used with which is driven through the storage area, for example by rows of racks to put together the goods intended for delivery.
  • picking trucks can be designed so that a person mitun during picking, but also runs when assembling the goods and driving along a shelf storage along foot next to the vehicle to remove goods from the shelf storage and this on a pallet or in a Store transport container.
  • the picking person For easier operation of the picking truck remote controls are known.
  • the picking person By means of such remote controls, the picking person, the picker, has the option of leaving the picking truck and controlling its movements with the remote control.
  • the order picker requests a forward movement of the vehicle by pressing a button, the picking truck driving as long as the button remains depressed.
  • Controls are known for automatic guidance of picking in a rack aisle, which are based on the environment.
  • laser scanners are used with which the Contour of the side of the aisle is detected while the picking truck is driving.
  • the order picking truck for example, arrives at another picking truck already in the aisle or in general an obstacle.
  • a warehouse are mostly a plurality of picking trucks in use with one operator and it can often happen that within a shelf aisle two or more picking trucks are moving one behind the other in one direction, such as in an area of the shelf warehouse, in which frequently commissions Goods are stored.
  • a disadvantage of this prior art is that when several trucks are used simultaneously in a rack aisle picking and commissioners have different working speeds or divergent cycle times when picking up the goods, it can lead to significant delays. This can cause a kind of traffic jam in the rack aisle, since all order picking can be driven only sequentially via remote control by the respective order picker or each order picker has to wait until the order picking has moved ahead of him and freeing space, so use their own picking the remote control, for example, after an automatic stop due to the detection of the vehicle ahead as an obstacle, can start again. This results in large dead times, similar to the effect that is known in traffic light start behavior in traffic. As a result, the maximum order picking speed can not be achieved and the order pickers must concentrate and pay attention to their respective picking truck in order to operate it. It is also disadvantageous that each of the picking trucks must be controlled individually.
  • the present invention has for its object to provide a method for controlling an industrial truck, in particular an industrial truck for picking, to provide that avoids the aforementioned drawbacks and with the operation of the truck during picking easier and more efficient work is possible.
  • the object is achieved in that in a method for controlling an industrial truck, in particular for order picking, wherein the truck has an optical sensor with a monitoring area which is connected to a control device, and the control device automatically after a start command the truck without a signal driven by a person Fahrsignalgebers, detects a monitoring area in the direction of travel of the truck by evaluating the data of the optical sensor as well as upon detection of an obstacle formed by a preceding truck closer than a stopping distance the truck stops, after a stop of the truck, the control device the truck again anatomic and automated continues driving as soon as no obstacle formed by the preceding truck is detected closer than the holding distance, and that the forklift As soon as it clears the square, it follows the preceding truck.
  • an automatic guidance of the picking truck is possible without the actions of the user or the picking person are required by not only a ride on, for example, preceding trucks is prevented, but also the truck automatically anatom and follows the truck in front as soon as this Free space.
  • the number Required interaction of the operator is reduced and this results in a work easier.
  • the truck can thereby virtually to a preceding truck, but also for example to a preceding Person be coupled by always following this vehicle or this person in a further movement. This is basically possible with several forklifts in a row in a type of convoy.
  • the order-picking speed of a series of industrial trucks in a rack aisle can be increased, since there are no delays due to a traffic jam and necessary starting commands from the driver.
  • a suitable sensor for monitoring the environment which may be a laser scanner in particular, but may also consist of ultrasonic sensors or radar sensors, a monitoring area is detected mainly in the direction of movement of the truck and examined obstacles, limits people and traverses.
  • known methods of image processing are used, for example, contour checking methods.
  • control device upon detection of an obstacle further than the stopping distance and closer than a reaction distance, reduces the driving speed depending on the distance to the obstacle.
  • control device reduces the driving speed at a distance of the obstacle between the reaction distance and the holding distance to zero when reaching the holding distance, in particular linearly to zero.
  • the maximum driving speed can be set during automatic driving and is controlled by the control device observed if no obstacle is detected.
  • the maximum driving speed is programmed in a learning operation that is not carried out automatically, in particular during picking operation.
  • the maximum driving speed or cruise control speed can be programmed in a learning mode of the picking truck and be specified by a manual drive. It is also conceivable to use here average values of the maximum achieved travel speeds or the average travel speeds over a certain period of operation.
  • only obstacles are detected in a track which is delimited by a right track boundary line and a left track boundary line, wherein the track boundary lines are each positioned laterally of the industrial truck and oriented in the longitudinal direction of the industrial truck.
  • Obstacles can be determined in a contour inspection process.
  • the control device can stop the industrial truck at the beginning of the interruption.
  • a value for the holding distance can be input via an operating device and / or programmed in a manual learning mode.
  • the distance between the trucks among each other in a convoy operation can be entered by a learning operation.
  • This can be about smartphones, tablets, notebooks or the like.
  • He further embodiment of the method follow a plurality of industrial trucks arranged in a row in automatic drive the first truck by these comply with the distance to the respective preceding one.
  • multiple vehicles may follow a first truck as a master vehicle in a convoy.
  • the preceding master vehicle can be controlled by a serving person in any manner. All other trucks automatically follow the respective minimum distance of the preceding truck and behave as if they were coupled with an electronic drawbar to a trailer hoist. This makes it possible to build a convoy and automatically control any number of subsequent trucks through the operation of the first vehicle without a single control is required. It is also possible that the master vehicle itself is a fully automatic vehicle.
  • the sensor may be an optical sensor, in particular a laser scanner, an ultrasonic sensor or a radar sensor.
  • the trucks may be provided with additional fully automatic functions.
  • the truck can fully automatically go to an unloading station or automatically starts the beginning of a shelf aisle on a call command of the picking person out.
  • a call command can be carried out in many known ways, for example by a remote control, but also by a gesture recognition or a software application of an electronic device such as a smartphone.
  • the Fig. 1 schematically shows an industrial truck 1 for picking in a aisle 2 with a cross-passage 3.
  • a sensor which is formed in the present example as a laser scanner and emits laser beams 4
  • the edge points of the aisle 2 are detected as pixels.
  • the sensor monitors a monitoring area 5 in the direction of travel in front of the industrial truck 1.
  • elements of the aisle 2 such as rack posts, stored pallets and goods and obstacles in the surveillance area 5 are detected.
  • the Fig. 2 shows the picking 1 of the Fig. 1 in a rack aisle 2 with a predicted track 6, which is determined by a left track boundary line 7 and a right track boundary line 8. Obstacles within the travel path 6 are detected by the control device. The detection of obstacles or preceding industrial trucks can be limited to the area of the travel path 6 within the surveillance area 5, wherein furthermore the indicated edge points of the aisle 2 and the cross-passage 3 are detected within the surveillance area 5.
  • the track 6 represents a predicted track 6 in the direction of travel of the truck 1, which is calculated by the control device from the orientation of the truck 1.
  • the Fig. 3 shows the truck 1 of Fig. 1 in a rack aisle 2 with a leading second, also provided for picking truck 9 within the guideway 6 of the first truck 1, which is determined by the left Fahrwegbegrenzungsline 7 and the right Fahrwegbegrenzungsline 8.
  • the control device of the first industrial truck 1 controls the travel speed from a predetermined maximum travel speed, for example a cruise speed set in the sense of cruise control, so that the first industrial truck 1 always follows the second industrial truck 9 at a distance 10 corresponding to the holding distance or slightly larger.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Claims (11)

  1. Procédé de commande d'un chariot de manutention (1), notamment servant à la préparation de commandes, le chariot de manutention (1) possédant un capteur ayant une zone de surveillance (5) pour la surveillance de l'environnement, lequel est relié à un dispositif de commande, et le dispositif de commande, après une instruction de démarrage, déplaçant le chariot de manutention (1) automatiquement sans signal d'un transmetteur de signal de déplacement actionné par une personne, et détectant une zone de surveillance (5) dans la direction de déplacement du chariot de manutention par interprétation des données,
    caractérisé en ce que
    lors de la détection d'un obstacle formé par un chariot de manutention qui précède (9) plus près qu'une distance d'arrêt (10), le chariot de manutention (1) s'arrête et, après un arrêt du chariot de manutention (1), le dispositif de commande redémarre le chariot de manutention (1) et poursuit son déplacement automatisé dès qu'aucun obstacle formé par le chariot de manutention qui précède (9) n'est détecté plus près que la distance d'arrêt (10), et le chariot de manutention (1) suit le chariot de manutention qui précède (9) dès que celui-ci libère la place.
  2. Procédé selon la revendication 1, caractérisé en ce que le dispositif de commande, lors de la détection d'un obstacle plus loin que la distance d'arrêt (10) et plus près qu'une distance de réaction, réduit la vitesse de déplacement en fonction de la distance par rapport à l'obstacle.
  3. Procédé selon la revendication 2, caractérisé en ce qu'en présence d'une distance de l'obstacle, le dispositif de commande réduit la vitesse de déplacement, la réduit notamment de façon linéaire, entre la distance de réaction et la distance d'arrêt (10) jusqu'à zéro au moment d'atteindre la distance d'arrêt (10).
  4. Procédé selon l'une des revendications 1 à 3, caractérisé en ce que la vitesse de déplacement maximale peut être réglée lors du déplacement automatique et elle est maintenue par le dispositif de commande lorsqu'aucun obstacle n'est détecté.
  5. Procédé selon la revendication 4, caractérisé en ce que la vitesse de déplacement maximale est programmée dans un mode d'apprentissage non exécuté automatiquement, notamment lors d'une utilisation en préparation de commande.
  6. Procédé selon l'une des revendications 1 à 5, caractérisé en ce que seuls sont détectés des obstacles dans une voie de déplacement (6) qui est délimitée par une ligne de délimitation de voie de déplacement de droite (8) et une ligne de délimitation de voie de déplacement de gauche (7), les lignes de délimitation de voie de déplacement (7, 8) étant respectivement positionnées latéralement par rapport au chariot de manutention et orientées dans le sens longitudinal du chariot de manutention (1).
  7. Procédé selon l'une des revendications 1 à 6, caractérisé en ce que des obstacles sont déterminés dans un procédé de contrôle de contour.
  8. Procédé selon l'une des revendications 1 à 7, caractérisé en ce qu'un bord d'étagère qui se trouve dans la zone de surveillance (5) est reconnu et, lorsqu'une fin / une interruption du bord d'étagère est détectée, notamment une interruption correspondant à la largeur d'une travée transversale(3), le dispositif de commande arrête le chariot de manutention (1) au début de l'interruption.
  9. Procédé selon l'une des revendications 1 à 8, caractérisé en ce qu'une valeur pour la distance d'arrêt (10) peut être saisie par le biais d'un dispositif de contrôle et/ou peut être programmée dans un mode d'apprentissage manuel.
  10. Procédé selon l'une des revendications 1 à 9, caractérisé en ce qu'une pluralité de chariots de manutention (1, 9) disposés en rangée suivent le premier chariot de manutention (9) dans un déplacement automatisé en maintenant de manière régulée la distance par rapport à celui qui précède respectivement.
  11. Procédé selon l'une des revendications 1 à 10, caractérisé en ce que le capteur est un capteur optique, notamment un capteur à laser, un capteur à ultrasons ou un capteur radar.
EP16177585.3A 2015-07-17 2016-07-01 Procédé de commande de la vitesse d'un chariot de manutention pour la préparation de commandes Active EP3118152B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015111610 2015-07-17
DE102015113445.4A DE102015113445A1 (de) 2015-07-17 2015-08-14 Verfahren zur Geschwindigkeitssteuerung eines Kommissionierflurförderzeugs

Publications (2)

Publication Number Publication Date
EP3118152A1 EP3118152A1 (fr) 2017-01-18
EP3118152B1 true EP3118152B1 (fr) 2018-12-05

Family

ID=56292619

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16177585.3A Active EP3118152B1 (fr) 2015-07-17 2016-07-01 Procédé de commande de la vitesse d'un chariot de manutention pour la préparation de commandes

Country Status (1)

Country Link
EP (1) EP3118152B1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11820634B2 (en) 2020-02-21 2023-11-21 Crown Equipment Corporation Modify vehicle parameter based on vehicle position information

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3216745B1 (fr) * 2016-03-07 2018-04-11 STILL GmbH Procédé de commande de chariot élévateur
DE102019215180A1 (de) * 2019-10-02 2021-04-08 Robert Bosch Gmbh Flurförderzeug, eingerichtet für den fahrerlosen, autonom agierenden Betrieb für eine zu transportierende Last
US11919761B2 (en) 2020-03-18 2024-03-05 Crown Equipment Corporation Based on detected start of picking operation, resetting stored data related to monitored drive parameter
WO2022098402A1 (fr) 2020-11-03 2022-05-12 Crown Equipment Corporation Accélération adaptative pour véhicule de manipulation de matériaux
US11661060B1 (en) 2022-07-06 2023-05-30 Hyster-Yale Group, Inc. Direction-of-travel-based inhibition of speed control based on truck-to-truck proximity detection

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0747403B2 (ja) * 1990-05-22 1995-05-24 インベストロニカ・ソシエダッド・アノニマ プログラム制御による箱、コンテナ等の操作・移送装置
DE102008011539B3 (de) * 2008-02-28 2009-06-18 Noell Mobile Systems Gmbh Vollautomatischer Portalhubstapler mit lokaler Funkortung und Laserlenkung
US8346468B2 (en) * 2008-07-08 2013-01-01 Sky-Trax Incorporated Method and apparatus for collision avoidance
DE102013106640B8 (de) * 2013-06-25 2015-03-05 Motum Lager- und Kommissioniersystem zum Kommissionieren mit autonom verfahrbaren Regalbediengeräten
DE102013110456A1 (de) 2013-09-21 2015-03-26 Still Gmbh Verfahren zur Steuerung eines Kommissionierflurförderzeugs
DE102013222176A1 (de) * 2013-10-31 2015-04-30 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung für einen Wiederstart einer abgeschalteten Antriebseinheit in einem Fahrzeug

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11820634B2 (en) 2020-02-21 2023-11-21 Crown Equipment Corporation Modify vehicle parameter based on vehicle position information

Also Published As

Publication number Publication date
EP3118152A1 (fr) 2017-01-18

Similar Documents

Publication Publication Date Title
EP3118152B1 (fr) Procédé de commande de la vitesse d'un chariot de manutention pour la préparation de commandes
EP2851331B1 (fr) Procédé de commande d'un chariot de manutention pour la préparation de commandes
EP3020614B1 (fr) Systeme de convoyage d'objets et son procede de commande
EP3875990B1 (fr) Système d'inspection d'un dépôt
DE19613386A1 (de) Flurförderzeug, das wahlweise manuell oder automatisch betreibbar ausgebildet ist
DE102015113445A1 (de) Verfahren zur Geschwindigkeitssteuerung eines Kommissionierflurförderzeugs
EP2987761A9 (fr) Chariot de manutention destine au commissionnement
EP3216744B1 (fr) Procédé de commande d'un chariot de manutention pour la préparation de commande
DE2646268A1 (de) Automatisches foerdersystem
EP3118706B1 (fr) Procede de commande d'un chariot de manutention pour la preparation de commande
DE202014102274U1 (de) Folienerkennung und Palettentyperkennung mittels Kanalfahrzeug in einem Kanalregallager
EP3333116A1 (fr) Procédé d'alignement automatique d'un chariot de manutention dans un entrepôt ainsi que système comportant un chariot de manutention et un entrepôt
EP1447374A2 (fr) Chariot élévateur
EP2602216A1 (fr) Système logistique, station de transmission pour celui-ci et procédé logistique
DE202019102253U1 (de) Vorrichtung zum Verifizieren von Lagergut-Positionen in intralogistischen Lagersystemen
EP3992058A1 (fr) Procédé de transport d'un support de marchandise au moyen d'un chariot de manutention au moins en partie automatisé
EP3333115B1 (fr) Procédé d'alignement automatique d'un chariot de manutention dans un entrepôt ainsi que système comportant un chariot de manutention et un entrepôt
EP2386506A1 (fr) Système logistique avec un entraînement de plaques qui glissent latéralement
EP3722912A1 (fr) Procédé permettant d'éviter une collision d'un véhicule de transport sans conducteur et véhicule de transport sans conducteur correspondant
EP3118707B1 (fr) Procede de commande d'un chariot de commissionnement
WO2022199912A1 (fr) Procédé de commande automatique d'un chariot de manutention et chariot de manutention pour un procédé de commande automatique et système pour un chariot de manutention à commande automatique
EP2088116B1 (fr) Protection électronique contre le glissement et procédé destiné à empêcher le glissement ou l'extraction involontaire de palettes dans un rayonnage de stock
EP3020677A1 (fr) Procede de preselection de la hauteur de levage pour un chariot de manutention
EP3216745B1 (fr) Procédé de commande de chariot élévateur
DE102013112016A1 (de) Flurförderzeug mit einem Hubhöhenassistenzsystem

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

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

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 RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20170623

RBV Designated contracting states (corrected)

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 RS SE SI SK SM TR

RIC1 Information provided on ipc code assigned before grant

Ipc: B66F 9/06 20060101AFI20180425BHEP

Ipc: B66F 9/075 20060101ALI20180425BHEP

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20180620

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

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 RS 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: 1072797

Country of ref document: AT

Kind code of ref document: T

Effective date: 20181215

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: 502016002679

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: MP

Effective date: 20181205

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

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

Ref country code: 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: 20181205

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: 20190305

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: 20181205

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: 20181205

Ref country code: ES

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: 20181205

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: 20181205

Ref country code: NO

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: 20190305

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 502016002679

Country of ref document: DE

Representative=s name: PATENTSHIP PATENTANWALTSGESELLSCHAFT MBH, DE

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: 20181205

Ref country code: RS

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: 20181205

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: 20190306

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

Ref country code: NL

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

Effective date: 20181205

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

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: 20181205

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: 20190405

Ref country code: IT

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: 20181205

Ref country code: PL

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

Effective date: 20181205

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

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: 20181205

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: 20181205

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: 20181205

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: 20190405

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: 20181205

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502016002679

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

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

Ref country code: 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: 20181205

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: 20181205

26N No opposition filed

Effective date: 20190906

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: 20181205

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: TR

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

Effective date: 20181205

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20190731

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: 20190731

Ref country code: LI

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

Effective date: 20190731

Ref country code: LU

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

Effective date: 20190701

Ref country code: CH

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

Effective date: 20190731

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: 20190701

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

Effective date: 20200701

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

Ref country code: GB

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

Effective date: 20200701

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

Ref country code: CY

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

Effective date: 20181205

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: 20160701

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: 20181205

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: 20181205

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 1072797

Country of ref document: AT

Kind code of ref document: T

Effective date: 20210701

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: 20210701

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

Effective date: 20230518

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

Ref country code: SE

Payment date: 20230724

Year of fee payment: 8

Ref country code: FR

Payment date: 20230720

Year of fee payment: 8

Ref country code: DE

Payment date: 20230720

Year of fee payment: 8