EP3333114A1 - Fahrzeug und verfahren für ein fahrzeug mit darstellung der maximalen lastbereichsbegrenzung - Google Patents

Fahrzeug und verfahren für ein fahrzeug mit darstellung der maximalen lastbereichsbegrenzung Download PDF

Info

Publication number
EP3333114A1
EP3333114A1 EP16202749.4A EP16202749A EP3333114A1 EP 3333114 A1 EP3333114 A1 EP 3333114A1 EP 16202749 A EP16202749 A EP 16202749A EP 3333114 A1 EP3333114 A1 EP 3333114A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
image
load
limitation
loading
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
EP16202749.4A
Other languages
English (en)
French (fr)
Other versions
EP3333114B1 (de
Inventor
Marcus RÖSTH
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.)
Hiab AB
Original Assignee
Cargotec Patenter AB
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 Cargotec Patenter AB filed Critical Cargotec Patenter AB
Priority to EP16202749.4A priority Critical patent/EP3333114B1/de
Priority to DK16202749.4T priority patent/DK3333114T3/da
Priority to PCT/EP2017/076323 priority patent/WO2018103929A1/en
Publication of EP3333114A1 publication Critical patent/EP3333114A1/de
Application granted granted Critical
Publication of EP3333114B1 publication Critical patent/EP3333114B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/78—Supports, e.g. outriggers, for mobile cranes
    • B66C23/80—Supports, e.g. outriggers, for mobile cranes hydraulically actuated

Definitions

  • the present disclosure relates to a vehicle, and a method for a vehicle, providing a display unit presenting an overview image, e.g. a bird-view image, of the area surrounding the vehicle and including a superimposed image of at least one determined maximal load range limitation.
  • an overview image e.g. a bird-view image
  • visual assistance systems comprise cameras for monitoring the ground area around the vehicle.
  • camera systems are known for trucks to facilitate the manoeuvring of the vehicles, in particular in a backward driving situation. The driver may then watch the vehicle position on a display during driving operation.
  • JP-2008074594 is disclosed a monitoring system for a vehicle provided with a crane and support legs.
  • the crane comprises a rotatable base and a telescopic crane boom mounted to the base.
  • Cameras are mounted to the crane and configured to monitor the area surrounding the vehicle. Images taken by the cameras are transformed into a bird view image by means of an image transformation unit and this bird view image is shown on a display in the driver's cabin of the vehicle. Markings lines illustrating the position of the support legs when extended by 50% and 100% are superposed on the bird view. Furthermore, a marking illustrating the area of rotation covered by the rotatable base is also superposed on the bird view.
  • the driver when parking the vehicle, to check that there are no obstacles in the surroundings which will interfere with the support legs and the rotational base.
  • US-20150330146 discloses a monitoring system for a utility vehicle provided with an aerial apparatus, for instance in the form of a turnable ladder or a crane, and support legs. Cameras are mounted to the vehicle and configured to monitor the ground areas on which the support legs rest in the operating position. The ground areas monitored by the cameras are shown on a display in the driver's cabin of the vehicle. Markings illustrating the position of the support legs in the operating position are superposed on the image shown on the display. Furthermore, a marking illustrating the vertical turning axis of the aerial apparatus is also superposed on the image shown on the display.
  • EP-2952467 discloses a monitoring system for a vehicle provided with a lifting device and support legs. Cameras are mounted to the vehicle and configured to monitor the area surrounding the vehicle. Images taken by the cameras are transformed into a bird view image and this bird view image is shown on a display in the driver's cabin of the vehicle. Markings illustrating the position of the support legs in different operating positions are superposed on the bird view.
  • EP-2543622 discloses a monitoring system for an extensible boom of a mobile crane, wherein a camera is mounted near the outer end of the extensible boom in order to monitor a load suspended by the boom.
  • the image taken by the camera is shown on a display.
  • An image illustrating the extensible boom may be superposed on the image shown on the display.
  • a limit performance line illustrating an area of maximum operation radius in which the extensible boom can move is superposed on the image shown on the display.
  • the object of the present invention is to achieve an improved vehicle and an improved method used in such a vehicle that provides a support tool for the operator of the vehicle to accurately and easily position the vehicle in relation to an object and indicate an applicable extension of the support legs in a specific situation.
  • the invention relates to a vehicle, in particular a vehicle for loading objects, comprising at least one sensing device mounted on the vehicle and being configured to capture measurement data to monitor the entire area, or a part of the area surrounding the vehicle.
  • the at least one sensing device is configured to generate at least one measurement data signal including the captured measurement data, and a processing unit configured to receive the measurement data signal and to determine a real time overview image, e.g. a bird-view image, of the area surrounding the vehicle based upon the measurement data, and further to generate a real time image signal to be applied to a display unit configured to show the real time overview image.
  • a real time overview image e.g. a bird-view image
  • a loading arrangement being configured to load objects to and from the vehicle, and being controlled by a loading control signal determined by the processing unit, and at least one supporting leg being arranged at the vehicle and being configured to be extended outside the vehicle to support the vehicle during a loading procedure, and that a supporting leg extension distance ranges from 0-100% of a maximal extension distance.
  • the processing unit is further configured to receive an object parameter comprising at least a weight of the object, and to determine a maximal load range limitation for the loading arrangement for at least one of the entire range of support leg extension distances in dependence of the weight of the object. Furthermore, the processing unit is configured to determine a load limitation image of at least one of the determined maximal load range limitation, wherein the load limitation image is a graphical illustration of the at least one maximal load range limitation in relation to the vehicle. The processing unit is then configured to superimpose the load limitation image on the shown real time overview image.
  • the invention comprises a method to be applied in a vehicle, in particular a vehicle for loading objects.
  • the method comprises:
  • a vehicle and a method where a graphical illustration of the load range limitations for a loading arrangement of the vehicle is superposed on an overview image showing the vehicle and the area surrounding the vehicle. This is made in order to make it possible for the driver of the vehicle to place the vehicle optimally with respect to a load to be picked up, and more specifically, to get an indication and guidance of how far the support legs should be extended.
  • the maximal load range limitations are determined for 2-5 different support leg extension distances, e.g. 50%, 75% and 100% of the maximal extension. Thereby the operator will have a clear indication of available options regarding how to position the vehicle in relation to the object,
  • the processing unit is configured to receive an input signal including information of a chosen load range limitation.
  • the input signal may e.g. be generated in response of an operator input via a touch screen of the display unit.
  • the processing unit is configured to determine a loading control signal in dependence of the chosen load range limitation, wherein the loading control signal comprises load instructions to control the loading arrangement to perform a loading procedure of an object within a loading area defined by the chosen load range limitation. This is advantageous in order to perform an accurate and fast loading of the object.
  • the present invention relates to a vehicle 2, in particular a vehicle for loading objects 20, e.g. emptying a waste bin, loading a pile of forestry.
  • vehicle is provided with a load arrangement 24, e.g. a roof mounted crane (RMC), or a general articulated crane, capable of lifting loads from the ground to the load carrying part of the vehicle, and also for lifting loads from the vehicle to the ground.
  • the loading arrangement 24 is controlled by a loading control signal 22 determined by a processing unit 8.
  • the vehicle is further provided with at least one supporting leg 30, e.g. four supporting legs, configured to be extended outside the vehicle to support the vehicle during a loading procedure.
  • the legs being extended often in a lateral and perpendicular direction in relation to the longitudinal axis of the vehicle.
  • a supporting leg extension distance ranges from 0-100% of a maximal extension distance.
  • the extended legs are denoted by dashed lines.
  • the object to be handled is not a part of the vehicle 2 and not physically connected to the vehicle but instead positioned outside the vehicle in an environment being accessible by the vehicle.
  • the vehicle comprises at least one sensing device 4 mounted on the vehicle 2 and being configured to capture measurement data to monitor the entire area surrounding the vehicle.
  • the sensing device may be one or many of a camera, a radar, an infra-red sensor, a laser-scanner or any other type of sensing device.
  • Various combinations of different types of sensing devices may be applied, e.g. one or many cameras and one or many laser-scanners.
  • the at least one sensing device 4 is configured to generate at least one measurement data signal 6 including the captured measurement data.
  • the processing unit 8 is configured to receive the measurement data signal 6 and to determine a real time overview image 10 of the entire area, substantially the entire area, or a part of the area surrounding the vehicle 2 based upon the measurement data. The part may be half of the area surrounding the vehicle, e.g. an area to the right of the vehicle.
  • the processing unit 8 is further configured to generate a real time image signal 12 to be applied to a display unit 14 configured to show the real time overview image 10 (see figure 2 ).
  • the processor unit is provided with a necessary processing capability, and also computer memories, and is e.g. realized by a general computer unit normally available in the vehicle.
  • the number of sensing devices is naturally related to the visual fields of the cameras that should be overlapping to cover the entire surroundings around the vehicle.
  • the measurement data e.g. the images, received from the sensing devices (the cameras) are then combined to a single overview image.
  • the vehicle itself may be represented as a central rectangular marking in the centre of the image - see figures 2 and 3 .
  • the measurement data received by the processing unit from the sensing devices represent the surroundings obtained at an angle that may range from 0 to 180 degrees in relation to the level of the ground.
  • These images obtained by the sensing devices should then be transferred to an overview image, e.g. an image from above, i.e. a so-called bird-view image.
  • an image from above is most useful.
  • views from other directions may be applicable to provide an overview of the environment. These other directions range from essentially parallel to the ground to perpendicular to the ground.
  • a bird-view transformation technique described which also is generally applicable.
  • a bird-eye view transformation technique is applied to generate a top view perspective of an image obtained by the sensing devices.
  • One applied technique can be classified under digital image processing as a geometrical image modification. Basically the bird's eye view transform can be divided into three steps. First the image has to be represented in a shifted coordinate system, in a next step a rotation of the image is performed, and then the image is projected on a two dimensional plane.
  • the display unit is advantageously mounted in the cabin of the vehicle 2 such that images shown on the display are easily visible for the operator, e.g. the driver.
  • the display is configured to show an overview illustration, e.g. a view from above, of the area surrounding the vehicle, and an object 20, if visible, to be picked up.
  • the feature display should be interpreted broadly and should e.g. also comprise projected images, e.g. images projected at the windscreen, i.e. so-called heads-up systems.
  • the processing unit 8 is further configured to receive an object parameter comprising at least a weight of the object, and to determine a maximal load range limitation for the loading arrangement 24 for at least one of the entire range of support leg extension distances in dependence of the weight of the object.
  • the object parameter may be entered to the processing unit via the display unit, e.g. if the display unit is provided with a touchscreen.
  • a maximal load range limitation for an input weight of an object is calculated by taking into account the lifting capacity of the loading arrangement for the entire range of support leg extension distances.
  • the processing unit is then configured to determine a load limitation image 34 of at least one of the determined maximal load range limitation, and that the load limitation image 34 is a graphical illustration 32 of the at least one maximal load range limitation in relation to the vehicle and preferably around the vehicle. It may also be possible to determine the load range limitation for only one side of the vehicle.
  • the thus determined load limitation image 34 is then superimposed on the shown real time overview image 10.
  • the combined image is shown in figure 2 where four different load range limitations 32 are shown.
  • the processing unit 8 is configured to superimpose the load limitation image 34 in a fixed position in relation to a virtual image 28 of the vehicle, which is illustrated in figure 2 .
  • the virtual image of the vehicle is centred in relation to the graphical illustration 32 of the load range limitation(s) of the load limitation image.
  • the maximal load range limitations are determined for 2-5 different support leg extension distances, e.g. including 50% and 100% of a maximal extension distance.
  • the driver will then have a good overview of the different available options when arriving to an object to be loaded. If the environment around the object is such that the driver can position the vehicle close to the object it may be enough to extend applicable support legs only 25% of the maximal extension, which may be represented with the innermost dashed range limitation on the load limitation image 34. If, on the other hand, the environment is such that it is not possible to position the vehicle close to the object, due to e.g. trees, rocks or other obstacles, the full extension of the support legs may be required which will be represented by the utmost dashed range limitation presented on the display unit.
  • the processing unit 8 is configured to receive an input signal 36 including information of a chosen load range limitation.
  • the input signal 36 may be generated in response of an operator input via a touch screen at the display unit.
  • the processing unit 8 is configured to determine a loading control signal 22 in dependence of the chosen load range limitation.
  • the loading control signal comprises load instructions to control the loading arrangement 24 to perform a loading procedure of an object 20 within a loading area defined by the chosen load range limitation.
  • the processing unit 8 may also be configured to control the extensions of the supporting legs to an extension that corresponds to the chosen load range limitation.
  • FIG 3 is schematic illustration of a real time overview image having a superimposed load limitation image 34 including a virtual image 28 of the vehicle provided with a loading arrangement 24.
  • the graphical illustrations 32A, 32B, 32C of the load range limitation(s) designate, in this example, support load extensions of 50%, 75% and 100%, respectively.
  • the present invention also relates to a method to be applied in a vehicle 2 for loading objects.
  • the vehicle comprises a loading arrangement 24 configured to load objects 20 to and from the vehicle, and being controlled by a loading control signal 22 determined by a processing unit 8.
  • the vehicle further comprises at least one supporting leg 30 configured to be extended outside the vehicle to support the vehicle during a loading procedure.
  • a supporting leg extension distance ranges from 0-100% of a maximal extension distance.
  • the object 20 is not a part of the vehicle 2, but instead e.g. a waste bin or a pile of forestry, or any other object to be picked-up or handled by a loading arrangement of the vehicle.
  • the method comprises capturing measurement data by at least one sensing device 4 mounted on the vehicle 2 to monitor the entire area, or a part of the area surrounding the vehicle, and generating at least one measurement data signal 6 including said captured measurement data.
  • the method further comprises receiving, in a processing unit 8, the measurement data signal 6, determining a real time overview image 10 of the area surrounding the vehicle 2 based upon the measurement data, generating a real time image signal 12 and applying it to a display unit 14 where the real time overview image 10 is shown.
  • the method further comprises receiving an object parameter comprising at least a weight of the object, and determining a maximal load range limitation for the loading arrangement 24 for at least one of the entire range of support leg extension distances in dependence of the weight of the object.
  • the method further comprises determining a load limitation image 34 of at least one of the determined maximal load range limitation, wherein the load limitation image is a graphical illustration of the at least one maximal load range limitation in relation to the vehicle, and superimposing the load limitation image on the shown real time overview image.
  • the method comprises superimposing the load limitation image in a fixed position in relation to a virtual image 28 of the vehicle.
  • the virtual image of the vehicle is preferably centred in relation to the graphical illustration 32 of the load range limitation(s) of the load limitation image.
  • the maximal load range limitations are advantageously determined for 2-5 different support leg extension distances, and the determined maximal load range limitations preferably includes 50% and 100% of a maximal extension distance.
  • the method comprises receiving an input signal 36 including information of a chosen load range limitation.
  • the input signal may be generated in response of an operator input via a touch screen of said display unit.
  • the method comprises determining a loading control signal 22 in dependence of the chosen load range limitation.
  • the loading control signal comprises load instructions to control the loading arrangement 24 to perform a loading procedure of an object 20 within a loading area defined by the chosen load range limitation.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Closed-Circuit Television Systems (AREA)
EP16202749.4A 2016-12-07 2016-12-07 Fahrzeug und verfahren für ein fahrzeug mit darstellung der maximalen lastbereichsbegrenzung Active EP3333114B1 (de)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP16202749.4A EP3333114B1 (de) 2016-12-07 2016-12-07 Fahrzeug und verfahren für ein fahrzeug mit darstellung der maximalen lastbereichsbegrenzung
DK16202749.4T DK3333114T3 (da) 2016-12-07 2016-12-07 Et køretøj og en fremgangsmåde til et køretøj, med præsentation af begrænsning af den maksimale belastningsradius
PCT/EP2017/076323 WO2018103929A1 (en) 2016-12-07 2017-10-16 A vehicle and a method for a vehicle, with presentation of maximal load range limitation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP16202749.4A EP3333114B1 (de) 2016-12-07 2016-12-07 Fahrzeug und verfahren für ein fahrzeug mit darstellung der maximalen lastbereichsbegrenzung

Publications (2)

Publication Number Publication Date
EP3333114A1 true EP3333114A1 (de) 2018-06-13
EP3333114B1 EP3333114B1 (de) 2022-03-02

Family

ID=57542770

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16202749.4A Active EP3333114B1 (de) 2016-12-07 2016-12-07 Fahrzeug und verfahren für ein fahrzeug mit darstellung der maximalen lastbereichsbegrenzung

Country Status (3)

Country Link
EP (1) EP3333114B1 (de)
DK (1) DK3333114T3 (de)
WO (1) WO2018103929A1 (de)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5823370A (en) * 1995-03-03 1998-10-20 Komatsu Ltd. Movable range indicating apparatus for mobile crane vehicle
JP2008074594A (ja) 2006-09-25 2008-04-03 Tadano Ltd 作業機搭載車両の周辺監視装置
EP2543622A1 (de) 2011-07-08 2013-01-09 Tadano, Ltd. Leistungslinien-Anzeigeeinheit
US20150330146A1 (en) 2012-10-17 2015-11-19 Iveco Magirus Ag Utility vehicle with monitoring system for monitoring the position of the vehicle
EP2952467A1 (de) 2014-06-03 2015-12-09 Palfinger Platforms GmbH Verfahren zur visualisierung der abstützposition und/oder des ausfahrweges zumindest einer stütze eines fahrzeuges sowie fahrzeug mit zumindest einer stütze
EP3000761A1 (de) * 2013-05-21 2016-03-30 Tadano, Ltd. Vorrichtung zur erkennung einer kameraausrichtung und arbeitsbereichslinieanzeigevorrichtung

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5823370A (en) * 1995-03-03 1998-10-20 Komatsu Ltd. Movable range indicating apparatus for mobile crane vehicle
JP2008074594A (ja) 2006-09-25 2008-04-03 Tadano Ltd 作業機搭載車両の周辺監視装置
EP2543622A1 (de) 2011-07-08 2013-01-09 Tadano, Ltd. Leistungslinien-Anzeigeeinheit
US20150330146A1 (en) 2012-10-17 2015-11-19 Iveco Magirus Ag Utility vehicle with monitoring system for monitoring the position of the vehicle
EP3000761A1 (de) * 2013-05-21 2016-03-30 Tadano, Ltd. Vorrichtung zur erkennung einer kameraausrichtung und arbeitsbereichslinieanzeigevorrichtung
EP2952467A1 (de) 2014-06-03 2015-12-09 Palfinger Platforms GmbH Verfahren zur visualisierung der abstützposition und/oder des ausfahrweges zumindest einer stütze eines fahrzeuges sowie fahrzeug mit zumindest einer stütze

Also Published As

Publication number Publication date
EP3333114B1 (de) 2022-03-02
DK3333114T3 (da) 2022-04-25
WO2018103929A1 (en) 2018-06-14

Similar Documents

Publication Publication Date Title
Fang et al. A framework for real-time pro-active safety assistance for mobile crane lifting operations
US11599092B2 (en) Construction machine, in particular a crane, and method for the control thereof
CN111017726B (zh) 起重机吊钩定位方法、装置、系统及工程机械
EP3326958B1 (de) Optische detektion und analyse von auslegerwinkeln an einem kran
US11292700B2 (en) Driver assistance system and a method
CN109071187B (zh) 用于机器的安全系统
US20200149248A1 (en) System and method for autonomous operation of heavy machinery
JP2006528122A (ja) フォークリフトの荷物支持手段上の可動センサ装置
JP6481178B2 (ja) クレーンの遠隔運転方法及びクレーンの遠隔運転装置
EP3822219A1 (de) Kran
US11932518B2 (en) Systems and methods for calculating a path
US11649146B2 (en) Safety system
Price et al. Dynamic crane workspace update for collision avoidance during blind lift operations
KR101811926B1 (ko) 무인비행체를 이용한 타워크레인의 운전 보조시스템 및 이를 이용한 타워크레인의 영상 제공 방법
EP3333114B1 (de) Fahrzeug und verfahren für ein fahrzeug mit darstellung der maximalen lastbereichsbegrenzung
EP3333113B1 (de) Fahrzeug und verfahren für ein fahrzeug mit zielmarkierung auf einem übersichtsbild
EP3938734A1 (de) Verfahren, vorrichtung und system zur navigation autonomer fahrzeuge
US20200307575A1 (en) Vehicle comprising a working equipment, and a working equipment, and a method in relation thereto
CN114859768A (zh) 用于包括工具的工程机械的远程操作的系统和方法
EP3718820B1 (de) Fahrzeug mit einer arbeitsausrüstung sowie eine arbeitsausrüstung und ein verfahren im zusammenhang damit
US20210107515A1 (en) Systems and methods for visualizing a route of a vehicle
US20220301260A1 (en) Systems and methods for area wide object dimensioning
JP2021004119A (ja) 吊りロープ振れ判定方法、データ処理装置、クレーン
JP2019163122A (ja) 作業車両及び遠隔操作端末
JP2021195196A (ja) 作業車両の接触抑制装置および作業車両の接触抑制装置を有するブームを備えた作業車両

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: 20181205

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

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

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

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

Owner name: HIAB AB

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: 20211126

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

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

Ref country code: AT

Ref legal event code: REF

Ref document number: 1472123

Country of ref document: AT

Kind code of ref document: T

Effective date: 20220315

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602016069542

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: DK

Ref legal event code: T3

Effective date: 20220422

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20220302

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

Ref country code: SE

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: 20220302

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: 20220302

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: 20220602

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: 20220302

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: 20220302

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: 20220302

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: 20220602

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 FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220302

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: 20220302

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: 20220603

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: 20220302

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: 20220302

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

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: 20220302

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: 20220302

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: 20220302

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: 20220704

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: 20220302

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: 20220302

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

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: 20220702

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: 20220302

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602016069542

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

26N No opposition filed

Effective date: 20221205

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: 20220302

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

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

Effective date: 20221207

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20221231

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

Ref country code: LU

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

Effective date: 20221207

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

Ref country code: LI

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

Effective date: 20221231

Ref country code: IE

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

Effective date: 20221207

Ref country code: GB

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

Effective date: 20221207

Ref country code: CH

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

Effective date: 20221231

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

Ref country code: FR

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

Effective date: 20221231

Ref country code: BE

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

Effective date: 20221231

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

Ref country code: IT

Payment date: 20231221

Year of fee payment: 8

Ref country code: DK

Payment date: 20231222

Year of fee payment: 8

Ref country code: AT

Payment date: 20231219

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: 20161207

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: 20220302

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

Ref country code: DE

Payment date: 20231227

Year of fee payment: 8

REG Reference to a national code

Ref country code: AT

Ref legal event code: UEP

Ref document number: 1472123

Country of ref document: AT

Kind code of ref document: T

Effective date: 20220302