EP3594167B1 - Grue pourvue d'un système de détection d'images - Google Patents

Grue pourvue d'un système de détection d'images Download PDF

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Publication number
EP3594167B1
EP3594167B1 EP18183443.3A EP18183443A EP3594167B1 EP 3594167 B1 EP3594167 B1 EP 3594167B1 EP 18183443 A EP18183443 A EP 18183443A EP 3594167 B1 EP3594167 B1 EP 3594167B1
Authority
EP
European Patent Office
Prior art keywords
crane
image acquisition
acquisition system
jib
column
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
EP18183443.3A
Other languages
German (de)
English (en)
Other versions
EP3594167A1 (fr
Inventor
Simon SCHÖRGHOFER
Martin Galler
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.)
Epsilon Kran GmbH
Original Assignee
Epsilon Kran 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 to PL18183443T priority Critical patent/PL3594167T3/pl
Application filed by Epsilon Kran GmbH filed Critical Epsilon Kran GmbH
Priority to ES18183443T priority patent/ES2889574T3/es
Priority to EP18183443.3A priority patent/EP3594167B1/fr
Priority to SI201830400T priority patent/SI3594167T1/sl
Priority to US16/509,743 priority patent/US10968083B2/en
Priority to RU2019121888A priority patent/RU2743213C2/ru
Priority to KR1020190084184A priority patent/KR20200007719A/ko
Priority to JP2019130290A priority patent/JP7003092B2/ja
Publication of EP3594167A1 publication Critical patent/EP3594167A1/fr
Application granted granted Critical
Publication of EP3594167B1 publication Critical patent/EP3594167B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B66C13/44—Electrical transmitters
    • 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
    • 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
    • B66C23/18—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 specially adapted for use in particular purposes
    • B66C23/36—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 specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes
    • B66C2700/0321—Travelling cranes
    • B66C2700/0357—Cranes on road or off-road vehicles, on trailers or towed vehicles; Cranes on wheels or crane-trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists

Definitions

  • the invention relates to a crane with the features of the preamble of claim 1 and a carrier vehicle with such a crane.
  • a non-generic crane is off WO 2017/164781 A1 known.
  • This document shows in the Figures 7a and 7b a crane with a crane pillar and with an image acquisition system that can be raised and lowered by a lifting device for capturing an area of a crane environment that is not directly visible to an operator of the crane, the image capturing system on a straight boom of the lifting device (last piece, which is on the innermost, horizontally extending boom is located) is arranged.
  • the horizontally extending boom and the vertically extending boom In order to lower the image acquisition system into a transport position in which the image acquisition system is moved towards the lifting column, the horizontally extending boom and the vertically extending boom must be retracted.
  • the pamphlet EP 3 323 767 A1 shows a telescopic crane with a crane arm on which an image capturing device is arranged in a region of the tip.
  • the pamphlet DE 10 2014 009165 A1 describes a large manipulator with a camera mounted on a camera boom.
  • the pamphlet US 2013/183028 A1 shows a camera crane with a telescopic crane arm, at the tip of which a camera can be mounted.
  • the object of the invention is to provide a generic crane which enables a larger field of view of the image acquisition system, and a carrier vehicle with such a crane.
  • the field of view is not restricted either by horizontally extending cantilevers or by a cantilever extending upwards next to the image acquisition system. This basically enables a field of view of 360 ° in a horizontal plane, the invention not being limited to such an all-round view. For example, a field of view of at least 290 ° can be sufficient.
  • Another advantage is that the image acquisition system is better protected in the transport position because it does not stand away from the lifting column.
  • the image acquisition system is arranged rigidly relative to the tip of the boom.
  • the image acquisition system has at least one, preferably at least three, cameras, which are preferably arranged in a common housing.
  • a single camera which has imaging optics that make use of the large field of view provided according to the invention.
  • the image acquisition system is arranged in the transport position at least substantially completely in or behind a protective cover arranged on the lifting column. It can preferably be provided that a cover of the image acquisition system closes the protective cover in the transport position.
  • a lighting device is arranged on the boom below the image acquisition system in the area of the tip of the boom, whereby it is preferably provided that the lighting device is arranged sunk in the boom so that it can be retracted into the lifting column together with the boom is.
  • the arrangement selected here in the area of the tip of the boom allows, on the one hand, optimal illumination in the field of view of the image acquisition system and, on the other hand, prevents the image acquisition system from being dazzled. If the lighting device is arranged sunk in the boom, this offers - above all, but not only - optimum protection in the transport position. In addition, a recessed lighting device does not hinder movement of the boom.
  • the lighting device comprises at least one headlight.
  • the lifting column and the boom in a vertical plane which has both the lifting column and a crane column, include an angle other than zero with the crane column.
  • a vertical lifting column would also be conceivable.
  • the selected inclined course of the lifting column causes the image acquisition system to be offset away from the crane column relative to the crane column, thus making it possible to better view an area covered by the crane column. Due to the inclined course of the lifting column, a large lateral distance of the crane column can be achieved in an extended state of the boom, without a corresponding removal in the transport position being necessary.
  • a housing of a crane control arranged on the crane pillar is arranged in a lower region of the crane pillar.
  • the housing of the crane control does not obscure a view of the crane's support. Therefore, no additional image acquisition system is required in the area of the support.
  • the image acquisition system has a computing unit which is composed of at least signals a camera of the image acquisition system calculates visualization data for a visualization unit arranged outside the image acquisition system. So, so to speak, part of the computational effort required for a display (in particular a compression of data) is relocated to the image acquisition system itself. This means that far fewer data have to be transmitted to the visualization unit arranged outside the image acquisition system (this is usually arranged in a driver's cab of a carrier vehicle of the crane), which reduces the bandwidth required for this.
  • the image acquisition system has at least two cameras and an interface is provided which collects signals from the at least two cameras and, if necessary - in the case of reference to the embodiment described above - transmits them to the computing unit.
  • An even greater advantage is that the connection effort from the image acquisition system to a visualization unit arranged outside the same (for example in a guide cabin of a carrier vehicle) is minimized. This makes the use of wireless connections easier.
  • a device for generating an air curtain to prevent contamination or moisture is provided on the protective glass for at least one protective glass of the image acquisition system, the device for generating the air curtain being an interface for connection to a compressed air supply of a carrier vehicle Has crane. It is therefore not necessary to generate your own compressed air on the crane. It is also not necessary to arrange an air conditioning device on the crane.
  • an air curtain control device which blocks generation of the air curtain outside of an operation of the image acquisition system. This can prevent a compressed air supply in the carrier vehicle from being exhausted.
  • a temperature control device for the image acquisition system, the temperature control device having an interface for the temperature control medium provided by a carrier vehicle of the crane, preferably compressed air, and / or for supplying energy to the temperature control device.
  • Fig. 1 shows a perspective view of a crane 32 with a crane column 8 and a lifting device 1 arranged thereon via a strut 7
  • Figure 8 shows a front view of the crane 32
  • Figure 13 shows a rear view of the crane 32.
  • a support 12 of the crane 32 can also be seen.
  • the lifting device 1 has a lifting column 4 and a straight boom 5 which can be retracted therein or extended therefrom.
  • An image acquisition system 2 is arranged on a tip of the boom 5 which forms a highest point of the boom 5.
  • the image capturing system 2 can be raised and lowered by the lifting device 1 and is used to capture an area of the surroundings of the crane that is not directly visible to an operator of the crane 32. Of course, an area that can be viewed directly by an operator can also be captured by the image capturing system 2.
  • the image acquisition system 2 can be moved upwards by extending the boom 5 out of the lifting column 4 and can be lowered by moving the boom 5 into the lifting column 4 into a transport position in which the boom 5 is essentially completely in the lifting column 4 and that Image acquisition system 2 is moved towards the lifting column 4.
  • the lifting column 4 and the boom 5 enclose an angle other than zero with the crane column 8 in a vertical plane which runs both through the lifting column 4 and through the crane column 8 (cf. Fig. 4 and Fig. 5 ).
  • a crane control housing 9 arranged on the crane pillar 8 is arranged in a lower region of the crane pillar 8. As in Fig. 5 represented by the dash-dotted lines emanating from the image acquisition system 2, this arrangement of the housing 9 does not obscure the housing 9 of the crane control a view of a support 12 of the crane 5. Therefore, no additional image acquisition system is required in the area of the support 12.
  • the image acquisition system 2 is arranged rigidly relative to the tip of the boom 5 and, in the exemplary embodiment shown, comprises four cameras 3, which are arranged in a common housing that is closed by a cover 10.
  • the boom 5 is essentially completely extended from the lifting column 4.
  • the image acquisition system 2 is moved away from the lifting column 4 by the extension of the boom 5.
  • the image acquisition system 2 is in the transport position essentially completely in or behind a protective cover 11 arranged on the lifting column 4 and is thereby protected from external influences.
  • a lighting device comprising two headlights 6 is arranged on the boom 5, wherein the lighting device is arranged sunk in the boom 5 (cf. Fig. 3a ) so that it can be moved into the lifting column 4 together with the boom 5.
  • Fig. 2 shows a top view of an image acquisition system 2.
  • the dash-dotted lines illustrate the field of view acquired by the respective cameras 3 in a horizontal plane.
  • a stereoscopic recording of a section of the field of view recorded as a whole can be carried out by two of the cameras 3.
  • the stereoscopically recorded section is directed in the direction of a crane arm arranged on the crane pillar 8 - and thus in the direction of an effective area of an implement that can be arranged thereon.
  • Fig. 3a shows a side view
  • Figure 3b shows a rear view of a lifting device 1 with an image capturing system 2 in a partially extended state of the boom 5 from the lifting column 4 in isolation.
  • Figure 3b shows a cabling 33 running inside the lifting device 1, which can include supply and data lines for the headlights 6 and for the cameras 3.
  • the lifting device 1 can be arranged separately from the crane column 8.
  • Fig. 6 shows a schematic representation of an image acquisition system 2 according to the prior art.
  • the image acquisition system 2 comprises a plurality of cameras 3.
  • the signals output by these cameras 3 are sent via lines 14 to a cabin interface 15 arranged in a cabin 13 of a carrier vehicle 35 (not shown here) (or at an operating station of a crane).
  • Image data, which can be passed on to a car visualization unit 17, are calculated from the signals by a car computing unit 16, which is also arranged in the car 13.
  • the image data can be passed on from the car visualization unit 17 to a display device 21.
  • Fig. 7 shows a schematic representation of an embodiment of a proposed image capturing system 2.
  • the image capturing system 2 comprises several cameras 3.
  • the signals output by these cameras 3 are sent to an interface 18 arranged in the image capturing system 2, possibly via separately configured signal lines.
  • Image data are calculated from the signals by a computing unit 19, which is also arranged in the image acquisition system 2.
  • the Cameras 3, the interface 18 and the computing unit 19 can be designed as a common assembly and can be arranged together in the housing of the image acquisition system 2.
  • the image data can be passed on preferably via a data line 34 to a visualization unit 20 arranged in a cabin 13 of a carrier vehicle 35 (not shown here or in an operating station of a crane), from which in turn data can be passed on to a display device 21.
  • the image data can be transmitted wirelessly from the image acquisition system 2 to the visualization unit 20.
  • Fig. 8 shows a schematic representation of an image acquisition system 2 with a protective glass 29 and a device for generating an air curtain 28.
  • the device for generating an air curtain 28 is connected via an interface to a compressed air supply and / or an energy supply of a carrier vehicle 35 of the crane 32 and has an air curtain control device 22 with which a switching valve 24 and a throttle 23 in the compressed air supply line can be controlled.
  • Input variables for the air curtain control device 22 can be: air pressure of the compressed air supply, air humidity of the compressed air, temperature of the compressed air, ambient temperature.
  • Switching valve 24 and / or throttle 23 can be controlled as a function of the input variables.
  • the device for generating an air curtain 28 - in particular the air curtain control device 22, the switching valve 24 and the throttle 23 - can be arranged in a housing of the image acquisition system 2.
  • Fig. 9 shows a schematic representation of an image acquisition system 2 with a temperature control device for the image acquisition system 2, the temperature control device being connected to a compressed air supply and / or an energy supply of a carrier vehicle 35 of the crane 32 via an interface.
  • Compressed air can be fed into the interior of a housing of the image acquisition system 2, in which the cameras 3 are located, via a compressed air supply line.
  • a control valve 27 and a throttle 23, which can be controlled by a temperature control 30, are arranged in the compressed air supply line.
  • the compressed air can be used to cool the cameras 3 in the housing.
  • Compressed air introduced into the housing can escape via a (non-return) pressure relief valve 26.
  • An interior area of the housing can be heated by means of a heater 25 which can be activated by a switch 31, the switch 31 being controllable by the temperature control 30.
  • Input variables for the temperature control 30 can be: air pressure of the compressed air supply, humidity of the compressed air, temperature of the compressed air, ambient temperature, actual temperature inside the housing, setpoint temperature.
  • the control valve 27 and / or throttle 23 and / or switch 31 can be activated as a function of the input variables.
  • the temperature control device - in particular the temperature control 30, the control valve 27, the throttle 23, the switch 31 and the heater 25 - can be arranged in the housing of the image acquisition system 2.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Control And Safety Of Cranes (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Studio Devices (AREA)

Claims (13)

  1. Grue (32) avec un poinçon de grue (8) et avec un système de détection d'images (2) disposé en étant relevable et abaissable par un mécanisme élévateur (1) pour détecter une zone, non directement visible par un utilisateur de la grue (32), d'un environnement de grue, dans laquelle le système de détection d'images (2) est disposé sur une flèche (5), s'étendant de façon rectiligne, du mécanisme élévateur (1), dans laquelle le système de détection d'images (2) peut être déplacé en hauteur par un déploiement de la flèche (5) à l'extérieur d'une colonne de levage (4) et peut être abaissé dans une position de transport par une introduction de la flèche (5) dans la colonne de levage (4), dans laquelle la flèche (5) se trouve essentiellement intégralement dans la colonne de levage (4) et le système de détection d'images (2) est rapproché de la colonne de levage (4), caractérisée en ce que le système de détection d'images (2) est disposé sur une extrémité de la flèche (5) formant un point le plus haut de la flèche (5), dans laquelle la colonne de levage (4) et la flèche (5) forme un angle différent de zéro avec le poinçon de grue (8) dans un plan vertical qui comprend non seulement la colonne de levage (4), mais aussi le poinçon de grue (8).
  2. Grue selon la revendication 1, dans laquelle le système de détection d'images (2) est disposé de façon fixe par rapport à l'extrémité de la flèche (5).
  3. Grue selon au moins l'une des revendications précédentes, dans laquelle le système de détection d'images (2) présente au moins une, de préférence trois, caméras (3), lesquelles sont disposées, de préférence, dans un boîtier commun.
  4. Grue selon au moins l'une des revendications précédentes, dans laquelle le système de détection d'images (2) est disposé dans la position de transport au moins essentiellement intégralement dans ou derrière un carter de protection (11) disposé sur la colonne de levage (4).
  5. Grue selon au moins l'une des revendications précédentes, dans laquelle est disposé au-dessous du système de détection d'images (2), dans la zone de la flèche (5), un dispositif d'éclairage sur la flèche (5), dans laquelle il est prévu, de préférence, que le dispositif d'éclairage est disposé de façon si enfoncée dans la flèche (5) qu'il est insérable conjointement à la flèche (5) dans la colonne de levage (4).
  6. Grue selon la revendication précédente, dans laquelle le dispositif d'éclairage comprend au moins un projecteur (6).
  7. Grue selon au moins l'une des revendications précédentes, dans laquelle un boîtier (9) d'une commande de grue, disposé sur le poinçon de grue (8), est disposé dans une zone inférieure du poinçon de grue (8).
  8. Grue selon au moins l'une des revendications précédentes, dans laquelle le système de détection d'images (2) présente une unité de calcul (19), laquelle calcule à partir de signaux d'au moins une caméra (3) du système de détection d'images (2), des données de visualisation pour une unité de visualisation (20) disposée à l'extérieur du système de détection d'images (2).
  9. Grue selon au moins l'une des revendications précédentes, dans laquelle le système de détection d'images (2) présente au moins deux caméras (3) et une interface (18) est prévue, laquelle collecte des signaux des au moins deux caméras (3) et, le cas échéant -en cas de référence à la revendication précédente-, les transmet à l'unité de calcul (19).
  10. Grue selon au moins l'une des revendications précédentes, dans laquelle pour au moins un verre protecteur (29) du système de détection d'images (2) est prévu un dispositif de production d'un rideau d'air (28), dans laquelle le dispositif de production du rideau d'air (28) présente une interface pour le raccordement à une alimentation en air comprimé d'un véhicule porteur (35) de la grue (32).
  11. Grue selon la revendication précédente, dans laquelle un dispositif de commande de rideau d'air (22) est prévu, lequel bloque une production du rideau d'air (28) en dehors d'un fonctionnement du système de détection d'images (2).
  12. Grue selon au moins l'une des revendications précédentes, dans laquelle est prévu un dispositif de régulation de température pour le système de détection d'images (2), dans laquelle le dispositif de régulation de température présente une interface pour un fluide de régulation de température, de préférence de l'air comprimé, déjà fourni par un véhicule porteur (35) de la grue, et/ou pour l'alimentation en énergie du dispositif de régulation de température.
  13. Véhicule porteur (35) avec une grue (32) selon au moins l'une des revendications précédentes.
EP18183443.3A 2018-07-13 2018-07-13 Grue pourvue d'un système de détection d'images Active EP3594167B1 (fr)

Priority Applications (8)

Application Number Priority Date Filing Date Title
ES18183443T ES2889574T3 (es) 2018-07-13 2018-07-13 Grúa con sistema de captación de imágenes
EP18183443.3A EP3594167B1 (fr) 2018-07-13 2018-07-13 Grue pourvue d'un système de détection d'images
SI201830400T SI3594167T1 (sl) 2018-07-13 2018-07-13 Žerjav s sistemom za zajemanje slike
PL18183443T PL3594167T3 (pl) 2018-07-13 2018-07-13 Żuraw z systemem rejestrowania obrazu
US16/509,743 US10968083B2 (en) 2018-07-13 2019-07-12 Crane comprising an image acquisition system
RU2019121888A RU2743213C2 (ru) 2018-07-13 2019-07-12 Кран, имеющий систему регистрации изображений
KR1020190084184A KR20200007719A (ko) 2018-07-13 2019-07-12 이미지 획득 시스템을 포함하는 크레인
JP2019130290A JP7003092B2 (ja) 2018-07-13 2019-07-12 画像検出システムを備えたクレーン

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP18183443.3A EP3594167B1 (fr) 2018-07-13 2018-07-13 Grue pourvue d'un système de détection d'images

Publications (2)

Publication Number Publication Date
EP3594167A1 EP3594167A1 (fr) 2020-01-15
EP3594167B1 true EP3594167B1 (fr) 2021-06-16

Family

ID=62951950

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18183443.3A Active EP3594167B1 (fr) 2018-07-13 2018-07-13 Grue pourvue d'un système de détection d'images

Country Status (8)

Country Link
US (1) US10968083B2 (fr)
EP (1) EP3594167B1 (fr)
JP (1) JP7003092B2 (fr)
KR (1) KR20200007719A (fr)
ES (1) ES2889574T3 (fr)
PL (1) PL3594167T3 (fr)
RU (1) RU2743213C2 (fr)
SI (1) SI3594167T1 (fr)

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JP7003092B2 (ja) 2022-01-20
PL3594167T3 (pl) 2021-12-13
EP3594167A1 (fr) 2020-01-15
ES2889574T3 (es) 2022-01-12
US20200017335A1 (en) 2020-01-16
KR20200007719A (ko) 2020-01-22
RU2019121888A3 (fr) 2021-01-14
JP2020011847A (ja) 2020-01-23
RU2743213C2 (ru) 2021-02-16
SI3594167T1 (sl) 2021-11-30
RU2019121888A (ru) 2021-01-14

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