EP3719216A1 - Procédé de commande d'actionnement d'un mouvement d'au moins une flèche et d'un outil connecté à la flèche dans un véhicule de travail, système de commande correspondant et véhicule de travail comprenant un tel système de commande - Google Patents

Procédé de commande d'actionnement d'un mouvement d'au moins une flèche et d'un outil connecté à la flèche dans un véhicule de travail, système de commande correspondant et véhicule de travail comprenant un tel système de commande Download PDF

Info

Publication number
EP3719216A1
EP3719216A1 EP20168276.2A EP20168276A EP3719216A1 EP 3719216 A1 EP3719216 A1 EP 3719216A1 EP 20168276 A EP20168276 A EP 20168276A EP 3719216 A1 EP3719216 A1 EP 3719216A1
Authority
EP
European Patent Office
Prior art keywords
boom
joystick
implement
actuating
solenoid valve
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
EP20168276.2A
Other languages
German (de)
English (en)
Other versions
EP3719216B1 (fr
Inventor
Alessio Aresta
Adriano GARRAMONE
Andrea Gravili
Stefano Liberti
Antonio Venezia
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.)
CNH Industrial Italia SpA
Original Assignee
CNH Industrial Italia SpA
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 CNH Industrial Italia SpA filed Critical CNH Industrial Italia SpA
Publication of EP3719216A1 publication Critical patent/EP3719216A1/fr
Application granted granted Critical
Publication of EP3719216B1 publication Critical patent/EP3719216B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2225—Control of flow rate; Load sensing arrangements using pressure-compensating valves
    • E02F9/2228—Control of flow rate; Load sensing arrangements using pressure-compensating valves including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2282—Systems using center bypass type changeover valves

Definitions

  • the present invention relates generally to a work vehicle, such as for example a compact wheel loader, and particularly to a control method of actuating a movement of at least one of a boom and an implement connected to the boom in a work vehicle and to a corresponding control system.
  • Motorized work vehicles are well known for use in material handling that carry an implement and have a hydraulically operated lifting arm for moving the implement. Examples of such vehicles are tractors and loaders.
  • a loader is a heavy equipment machine used in construction to move aside on the ground or load materials such as asphalt, demolition debris, dirt, snow, feed, gravel, logs, raw minerals, recycled material, rock, sand, woodchips, etc. into or onto another type of machinery (such as a dump truck, conveyor belt, feed-hopper, or railroad car).
  • loader which, depending on design and application, are called by various names, including bucket loader, front loader, front-end loader, payloader, scoop, shovel, skip loader, wheel loader, or skid-steer.
  • compact wheel loaders are compact vehicles that have road wheels and carry a working implement, such as a bucket, attached to a lift arm or boom, that is hydraulically powered.
  • a work vehicle 1 such as a compact wheel loader
  • the invention is not limited to such a kind of work vehicle, but is applicable to any other kind of work vehicle.
  • a compact wheel loader includes a bucket 2 connected to a frame 3 of the work vehicle for movement relative thereto. As shown, a pair of booms 5 (only one being shown) is each pivotally connected at one end on opposite sides of frame 3. The bucket 2 is pivotally connected at the opposite end of booms for tilting movement relative to the frame 3 about a generally horizontal axis.
  • the above-described features form no substantial part of the present invention and are generally well known in the art.
  • a bucket may be replaced in operation by any other implement or attachment.
  • the movement of the boom 5 and of the bucket 2 is controlled by the user through a joystick 7 placed inside an operator's cab or cabin 9 of the work vehicle 1.
  • FIG 2 which shows a control diagram of the work vehicle 1
  • the boom 3 and the bucket 2 are moved by an hydraulic control circuit 10 comprising a first and a second hydraulic actuators 12, 14 which are controlled by an electronic control unit 16 through respective solenoid valves 18, 20 according to the position of the joystick 7 controlled by the user.
  • Load-sensing valves allow a pressure compensation so that downstream channels take proportional allocation of flow depending on the load.
  • the flow rate at a predetermined opening degree is not dependent upon the load downstream each valve and is not dependent upon the pump inlet flow.
  • load-sensing valves with flow sharing also prevent the working fluid from taking the path of least resistance.
  • this solution is very expensive.
  • open centre directional solenoid valves are less expensive than load-sensing valves.
  • the flow rate at a predetermined opening degree is dependent upon the pump inlet flow, the number of valves supplied by the pump and the load downstream each valve.
  • each hydraulic actuator comprises an hydraulic cylinder operatively connected respectively to the boom and the implement, that uses hydraulic power of a working fluid to facilitate mechanical operation, the working fluid being controlled by means of open centre directional solenoid valves 18, 20.
  • a hydraulic actuator can exert a large force.
  • the rate of actuation of the boom and implement is controlled by the opening degree of the respective open centre directional solenoid valve 18, 20 by means of a driving current thereof as a function of the position of the joystick.
  • the hydraulic flow rate of the working fluid required to operate the boom and the implement is produced by a hydraulic fixed displacement pump P connected to a fluid reservoir T and driven by an internal combustion engine or an electrical motor M (hereinafter simply referred to as motor) of the vehicle, e.g. by a mechanical linkage. Therefore, the rate of movement of the boom and the implement at a predetermined joystick position is dependent upon the motor rotational speed. For instance, when the motor is working at a high motor rotational speed, it is necessary a minimum movement of the joystick by the user to start the movement of the boom and/or the implement. On the contrary, when the motor is working at a low motor rotational speed, it is necessary a large movement of the joystick by the user to start the movement of the boom and/or the bucket.
  • Figure 3 shows an exemplary joystick of a work vehicle.
  • a movement of the joystick in an associated bi-dimensional control area A according to a first direction y causes the actuation of the boom and a movement of the joystick in said control area A according to a second direction x causes the actuation of the implement.
  • the intersection of said x and y directions is defined as origin O of the control area A, and corresponds to the neutral position of the joystick.
  • a neutral region N around the neutral position of the joystick is a region where the boom and implement are not actuated.
  • a region externally surrounding the neutral region is defined a driving region and indicated D in this figure.
  • a combination of movement in both directions x and y of the joystick is allowed in order to move simultaneously the boom and the bucket.
  • a further drawback is that when the boom and/or the implement is suddenly stopped the operator's cab 9 of the work vehicle is subject to shocks and vibrations. These shocks and vibrations are transmitted to the user and produce noise in the cab, thus generating discomfort to the user.
  • the aim of the present invention is to provide a solution that avoids the drawbacks of the prior art.
  • an aim of the present invention is to improve the controllability of a boom and/or implement in a work vehicle when a user fastly releases the joystick in the neutral region.
  • a further aim of the present invention is to increase the comfort of the user when such manoeuvre occurs.
  • this aim is achieved by a control method for actuating a movement of at least one of a boom and an implement connected to the boom in a work vehicle, having the features claimed in claim 1.
  • control system for actuating a movement of at least one of a boom and an implement connected to the boom in a work vehicle, as well as a work vehicle, as claimed.
  • an actuation strategy of a boom and/or an implement of a work vehicle is disclosed according to which, based on information about the joystick position - that can be retrieved as an electronic signal provided by a position sensor associated with the joystick - actuation is controlled by recognizing if the user has released the joystick to the neutral region and, in the affirmative, by applying a predetermined first order filter to the driving current of the open centre directional solenoid valves of the hydraulic actuating means of the boom and the implement, in order to get a smooth stop thereof.
  • actuation of the boom 5 and the implement 2 occurs by means of joystick 7 controlled by a user, whose movement in the control area A according to direction y causes the actuation of the boom 5 by first hydraulic actuating means 12 and whose movement in the control area A according to direction x causes the actuation of the implement 2 by second hydraulic actuating means 14.
  • Each hydraulic actuating means 12, 14 include an hydraulic cylinder operatively connected respectively to the boom 5 and the implement 2, and a respective first and second open centre directional solenoid valve 18, 20 whose opening degree is adapted to control the flow of a working fluid to the respective hydraulic cylinder.
  • the rate of actuation of the boom 5 is controlled by the opening degree of the first open centre directional solenoid valve 18 by means of the driving current thereof as a function of a first component of the position P of the joystick 7 along direction y in the control area A.
  • the rate of actuation of the implement 2 is controlled by the opening degree of the second open centre directional solenoid valve 20 by means of the driving current thereof as a function of a second component of the position P of the joystick 7 along direction x in the control area A.
  • the first component of the position P of the joystick 7 along direction y is indicated y P in figure 3 and is the projection over y axis of a vector representing the position P of the joystick in the control area A.
  • the second component of the position P of the joystick 7 along direction x is indicated x P in figure 3 and is the projection over x axis of the vector representing the position P of the joystick in the control area A.
  • the electronic control unit 16 has input means adapted to receive at least a signal S J indicative of a position of the joystick in the control area, and output means adapted to issue at least a signal S DC indicative of a driving current intended to control an opening degree of the open centre directional solenoid valve 18, 20.
  • the electronic control unit 16 is configured to detect a travel of the joystick 7 in control area A from a driving region D to neutral region N.
  • a neutral time is measured during which the joystick position is continuously inside the neutral region, i.e. each time the joystick exits the neutral region, such as in a manoeuvre of inverting the actuation of the boom or implement, the measurement of the time is resetted.
  • the electronic control unit 16 performs a controlling strategy of the driving current of the valves controlled according to the joystick (x/y axis) position according to the invention. More preferably, the controlling strategy of the driving current is applied to both valves 18, 20 depending on the joystick position in the driving region.
  • the driving current is controlled so that said driving current reaches zero with a derivative over time reaching with continuity a value which is lower than a predetermined rate threshold value in absolute terms.
  • this curve is indicating the movement of the joystick according to the y direction whereby in a first manoeuvre the boom 5 is lowered from a first position relative to ground to a second, lower position relative to ground, and in a second manoeuvre the boom 5 is lifted from a first position relative to ground to a second upper position relative to ground and subsequently lowered to a third position relative to ground without stopping its movement.
  • FIG 5 it is shown a curve indicating the evolution of the driving current of the first open centre directional solenoid valve 18 actuating the boom 5 according to the first manoeuvre and the second manoeuvre of the joystick illustrated in figure 4 , the driving current being controlled by the electronic control unit.
  • the joystick 7 In the first manoeuvre the joystick 7 is first moved from the neutral region N to an operating position DP in the driving region D, where it is held for an actuation time interval. Then, the joystick is moved back to the neutral region where it is left resting for a prolonged time at the end of the manoeuvre.
  • the electronic control unit 16 checks whether the position of the joystick inside the neutral region N is maintained for at least the predetermined threshold of time Th. According to this exemplary manoeuvre, the position of the joystick inside the neutral region N is maintained for a time greater than the predetermined threshold of time Th.
  • the electronic control unit detects that the current joystick position enters the neutral region N at time t 1 . Since the position of the joystick inside the neutral region N is maintained for a time greater than the predetermined threshold of time Th, i.e. the neutral time is greater than Th, the electronic control unit acquires this information at time t 2 and consequently starts a soft stop procedure according to the invention.
  • the driving current is controlled by applying a predetermined first order filter so as to reach zero with a derivative over time reaching with continuity a zero value in a region DC 1 of the curve.
  • the joystick 7 is first moved from the neutral region N to a first operating position DP' in the driving region D, where it is held for a first actuation time interval. Then, the joystick is moved to a second operating position DP" passing through the neutral region, e.g. in an area of the driving region lying substantially along the same direction followed to reach the operating position DP', but opposite to the neutral position, without stopping at the neutral position, and it is held there for a second actuation time interval.
  • the electronic control unit 16 checks whether the position of the joystick inside the neutral region N is maintained for at least the predetermined threshold of time Th. According to this exemplary manoeuvre, the position of the joystick inside the neutral region N is maintained for a time smaller than the predetermined threshold of time Th. Finally, the joystick is moved to the neutral region where it is left resting for a prolonged time at the end of the manoeuvre.
  • the electronic control unit 16 checks whether the position of the joystick inside the neutral region N is maintained for at least the predetermined threshold of time Th. According to this exemplary manoeuvre, the position of the joystick inside the neutral region N is maintained for a time greater than the predetermined threshold of time Th.
  • the electronic control unit detects that the current joystick position enters the neutral region N during the travel J 2 , but since the position of the joystick inside the neutral region N is maintained for a time smaller than the predetermined threshold of time Th, the electronic control unit does not start a soft stop procedure according to the invention, and it controls the driving current in a way that is proportional to the continuously changing joystick position in a region DC 2 of the curve.
  • the electronic control unit detects that the joystick position enters the neutral region N and that its position inside the neutral region N is maintained for a time greater than the predetermined threshold of time Th, in a manner analogous to the first manoeuvre. Consequently, the electronic control unit starts a soft stop procedure according to the invention, where the driving current is controlled by applying a predetermined first order filter so as to reach zero with a derivative over time reaching with continuity a zero value.
  • the requirement that the driving current be controlled so as to reach zero with a derivative over time reaching with continuity a zero value may be relaxed, and the driving current is controlled so as to reach a near-to-zero value lower than a predetermined current threshold value Th DC in absolute terms.
  • the driving current is controlled so as to reach zero or a near-to-zero value with a derivative over time reaching with continuity a value different from zero but which is lower than a predetermined rate threshold value in absolute terms.
  • a smooth operation of a boom and/or an implement of a work vehicle is achieved when a user fastly releases the joystick in the neutral region by means of an actuation strategy based on information about the joystick position and the time it remains within the neutral position, that is indicative of a release to neutral of the joystick.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Operation Control Of Excavators (AREA)
  • Mechanical Control Devices (AREA)
  • Numerical Control (AREA)
EP20168276.2A 2019-04-05 2020-04-06 Procédé de commande d'actionnement d'un mouvement d'au moins une flèche et d'un outil connecté à la flèche dans un véhicule de travail, système de commande correspondant et véhicule de travail comprenant un tel système de commande Active EP3719216B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102019000005178A IT201900005178A1 (it) 2019-04-05 2019-04-05 Procedimento di controllo per l'attuazione di un movimento di arresto graduale di almeno uno tra un braccio ed un attrezzo collegato al braccio in una macchina operatrice, sistema di controllo corrispondente e macchina operatrice comprendente tale sistema di controllo

Publications (2)

Publication Number Publication Date
EP3719216A1 true EP3719216A1 (fr) 2020-10-07
EP3719216B1 EP3719216B1 (fr) 2023-02-22

Family

ID=67002296

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20168276.2A Active EP3719216B1 (fr) 2019-04-05 2020-04-06 Procédé de commande d'actionnement d'un mouvement d'au moins une flèche et d'un outil connecté à la flèche dans un véhicule de travail, système de commande correspondant et véhicule de travail comprenant un tel système de commande

Country Status (2)

Country Link
EP (1) EP3719216B1 (fr)
IT (1) IT201900005178A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05263435A (ja) * 1992-03-18 1993-10-12 Komatsu Ltd 油圧駆動装置のモジュレーション制御方法およびその 装置
JPH09247515A (ja) * 1996-03-08 1997-09-19 Hitachi Constr Mach Co Ltd 遠隔操縦機械のカメラ視野角制御装置
US20180119386A1 (en) * 2015-04-28 2018-05-03 Hitachi Construction Machinery Co., Ltd. Control System for Construction Machine
US20190100900A1 (en) * 2017-10-03 2019-04-04 Kubota Corporation Hydraulic system for working machine

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05263435A (ja) * 1992-03-18 1993-10-12 Komatsu Ltd 油圧駆動装置のモジュレーション制御方法およびその 装置
JPH09247515A (ja) * 1996-03-08 1997-09-19 Hitachi Constr Mach Co Ltd 遠隔操縦機械のカメラ視野角制御装置
US20180119386A1 (en) * 2015-04-28 2018-05-03 Hitachi Construction Machinery Co., Ltd. Control System for Construction Machine
US20190100900A1 (en) * 2017-10-03 2019-04-04 Kubota Corporation Hydraulic system for working machine

Also Published As

Publication number Publication date
EP3719216B1 (fr) 2023-02-22
IT201900005178A1 (it) 2020-10-05

Similar Documents

Publication Publication Date Title
US8751117B2 (en) Method for controlling a movement of a vehicle component
US8448741B2 (en) Electro-hydraulic steering feedback and adjustment
US20070209356A1 (en) Method for providing priority to steering wheel on machines with steering wheel and joystick
KR20110069942A (ko) 건설기계의 작업기 위치제어장치 및 작업기 위치제어방법
EP3719221B1 (fr) Procédé de commande pour actionner un mouvement d'agitation d'un seau connecté à une flèche dans un véhicule de travail alimenté par un moteur, système de commande correspondant et véhicule de travail comprenant un tel système de commande
EP3719217B1 (fr) Procédé de commande d'actionnement d'un mouvement de retour en position d'excavation d'un outil, tel qu'un godet, dans un véhicule de travail, système de commande correspondant et véhicule de travail comprenant un tel système de commande
US9809948B2 (en) Work vehicle control method, work vehicle control device, and work vehicle
EP3719216B1 (fr) Procédé de commande d'actionnement d'un mouvement d'au moins une flèche et d'un outil connecté à la flèche dans un véhicule de travail, système de commande correspondant et véhicule de travail comprenant un tel système de commande
CN114174598A (zh) 建筑机械
EP3719218B1 (fr) Procédé de commande d'actionnement d'un mouvement d'inversion d'au moins une flèche et d'un outil dans un véhicule de travail, système de commande correspondant et véhicule de travail comprenant un tel système de commande
EP4026953A1 (fr) Procédé de commande permettant de sélectionner automatiquement un mode de fonctionnement d'un véhicule de travail, système de commande correspondant et véhicule de travail comportant ce système de commande
US11965314B2 (en) Control methods for actuating the movement of a boom or an attachment in a work vehicle, corresponding control systems and work vehicles comprising such control systems
EP3719220B1 (fr) Procédé de commande d'actionnement d'un mouvement d'au moins une flèche et un outil connecté à la flèche dans un véhicule de travail alimenté par un moteur, système de commande correspondant et véhicule de travail comprenant un tel système de commande
EP3879137A1 (fr) Transmission hydrostatique pour un véhicule de travail doté d'un système anti-recul
EP3719219A1 (fr) Procédé de commande pour actionner un mouvement combiné d'une flèche et d'un outil dans un véhicule de travail, système de commande correspondant et véhicule de travail comprenant un tel système de commande
US20230358021A1 (en) Control method for executing a floating function of a boom, corresponding control systems and work vehicles comprising such control systems
WO2022122761A1 (fr) Procédés de détection d'une défaillance d'un moyen de détection de vitesse d'un engin de chantier, système de commande correspondant et engin de chantier comprenant un tel système de commande
EP4006387A1 (fr) Transmission hydrostatique pour un véhicule de travail équipé d'un système de contrôle basé sur la vitesse et la pression
CN110462140B (zh) 作业车辆以及作业车辆的控制方法
CN115042635A (zh) 自推进式作业车辆和对该车辆进行控制的计算机实现方法

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: 20210407

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

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

RIC1 Information provided on ipc code assigned before grant

Ipc: E02F 9/22 20060101ALI20220729BHEP

Ipc: E02F 9/20 20060101AFI20220729BHEP

INTG Intention to grant announced

Effective date: 20220901

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

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1549606

Country of ref document: AT

Kind code of ref document: T

Effective date: 20230315

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602020008191

Country of ref document: DE

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

RAP4 Party data changed (patent owner data changed or rights of a patent transferred)

Owner name: CNH INDUSTRIAL ITALIA S.P.A.

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20230222

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1549606

Country of ref document: AT

Kind code of ref document: T

Effective date: 20230222

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

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: 20230222

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: 20230622

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: 20230522

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: 20230222

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: 20230222

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: 20230222

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: 20230222

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: 20230222

Ref country code: AT

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: 20230222

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

Ref country code: IT

Payment date: 20230501

Year of fee payment: 4

Ref country code: FR

Payment date: 20230425

Year of fee payment: 4

Ref country code: DE

Payment date: 20230426

Year of fee payment: 4

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: 20230222

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: 20230222

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: 20230622

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: 20230523

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: 20230222

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: 20230222

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: 20230222

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: 20230222

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: 20230222

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: 20230222

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602020008191

Country of ref document: DE

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

Ref country code: SK

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

Effective date: 20230222

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: LU

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

Effective date: 20230406

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

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20230430

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: 20230222

26N No opposition filed

Effective date: 20231123

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: 20230222

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: 20230222

Ref country code: LI

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

Effective date: 20230430

Ref country code: CH

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

Effective date: 20230430

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

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

Ref country code: BE

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

Effective date: 20230430

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: 20230406