JP7108730B2 - トラックとドライビング道路建設車両との間で接触しない材料移送 - Google Patents
トラックとドライビング道路建設車両との間で接触しない材料移送 Download PDFInfo
- Publication number
- JP7108730B2 JP7108730B2 JP2021030002A JP2021030002A JP7108730B2 JP 7108730 B2 JP7108730 B2 JP 7108730B2 JP 2021030002 A JP2021030002 A JP 2021030002A JP 2021030002 A JP2021030002 A JP 2021030002A JP 7108730 B2 JP7108730 B2 JP 7108730B2
- Authority
- JP
- Japan
- Prior art keywords
- truck
- construction vehicle
- road construction
- road
- distance
- 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
Links
- 239000000463 material Substances 0.000 title claims description 122
- 238000010276 construction Methods 0.000 title claims description 104
- 238000012546 transfer Methods 0.000 title claims description 27
- 238000000034 method Methods 0.000 claims description 17
- 238000003032 molecular docking Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000004566 building material Substances 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/004—Devices for guiding or controlling the machines along a predetermined path
- E01C19/006—Devices for guiding or controlling the machines along a predetermined path by laser or ultrasound
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/48—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/24—Unloading land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/32—Filling devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
- B60K23/0808—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles for varying torque distribution between driven axles, e.g. by transfer clutch
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2814/00—Indexing codes relating to loading or unloading articles or bulk materials
- B65G2814/03—Loading or unloading means
- B65G2814/0347—Loading or unloading means for cars or linked car-trains with individual load-carriers
- B65G2814/0356—Loading or unloading means for cars or linked car-trains with individual load-carriers the whole car being tilted
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C2301/00—Machine characteristics, parts or accessories not otherwise provided for
- E01C2301/02—Feeding devices for pavers
- E01C2301/04—Independent shuttles
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C2301/00—Machine characteristics, parts or accessories not otherwise provided for
- E01C2301/02—Feeding devices for pavers
- E01C2301/08—Pushing devices for lorries
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Road Paving Machines (AREA)
Description
3 路面仕上げ機
5 トラクタ
7 制御プラットフォーム
9 材料ホッパ
11 横方向分配機スクリュ
13 スクリード
15 距離センサ
17 装填室
19 トラベル駆動
21 ブレーキ
23 操縦装置
25 傾斜装置
27 制御ユニット
29 アンテナ
31 充填レベルセンサ
33 制御ユニット
35 アンテナ
41 材料ホッパ
43 フィーダ
45 搬送装置
F 舗装方向
Claims (15)
- トラック(1)と舗装方向に沿って駆動中の道路建設車両との間で材料を移送する方法であって、
前記道路建設車両は、路面仕上げ機(3)、または路面仕上げ機用のフィーダ(43)であり、
距離制御システムの装置によって、前記舗装方向に沿って駆動中の道路建設車両と前記道路建設車両の前で運転するトラック(1)との間の距離は、前記道路建設車両と接触させずに、一定に維持され、
材料は前記トラック(1)の装填室(17)から前記道路建設車両の材料ホッパ(9、41)の中に投下され、その間、前記舗装方向に沿って駆動中の道路建設車両と前記トラック(1)との間の前記距離は一定に維持される、方法。 - 前記トラック(1)は、材料移送中に、それ自体のトラベル駆動(19)によって駆動される、請求項1に記載の方法。
- 前記距離制御システムは、前記舗装方向に沿って駆動中の道路建設車両と前記道路建設車両の前で運転する前記トラック(1)との間の前記距離を決定するセンサ装置を備える、請求項1または2に記載の方法。
- 前記センサ装置は、前記道路建設車両に設けられる距離センサ(15)を備える、請求項3に記載の方法。
- 前記センサ装置は、前記トラック(1)に設けられる距離センサ(15)を備える、請求項3に記載の方法。
- 前記距離制御システムは、前記トラック(1)の速度についての制御命令を生成する、請求項1から5のいずれか1項に記載の方法。
- 前記距離制御システムは、前記舗装方向に沿って駆動中の道路建設車両と前記トラック(1)との間の前記距離を一定に維持するように前記トラック(1)のトラベル駆動(19)および/またはブレーキ(21)を自動制御する制御ユニット(27、33)を備える、請求項1から6のいずれか1項に記載の方法。
- 距離制御のための情報は、前記道路建設車両から前記トラック(1)へ無線で送信される、請求項1から7のいずれか1項に記載の方法。
- 前記トラック(1)の操縦は、前記トラック(1)の運転手によって行われる、請求項1から8のいずれか1項に記載の方法。
- 前記距離制御システムは、前記舗装方向に沿って駆動中の道路建設車両と前記道路建設車両の前で運転する前記トラック(1)との間の前記距離を、前記トラック(1)のタイプおよび/または前記道路建設車両のタイプに基づいてルックアップテーブルから選択される値に制御する、請求項1から9のいずれか1項に記載の方法。
- 前記トラック(1)の前記装填室(17)の傾斜機能は、前記道路建設車両から遠隔制御される、請求項1から10のいずれか1項に記載の方法。
- 前記トラック(1)の前記装填室(17)の前記傾斜機能は、前記道路建設車両の運転手によって手動で遠隔制御される、請求項11に記載の方法。
- 前記材料ホッパ(9、41)の充填レベルを決定する充填レベルセンサ(31)は、前記道路建設車両に設けられ、前記トラック(1)の前記装填室(17)の前記傾斜機能は、前記充填レベルセンサ(31)の出力に基づいて自動で遠隔制御される、請求項11に記載の方法。
- 舗装方向に沿って駆動中の道路建設車両と前記道路建設車両の前で運転するトラック(1)との間の距離を、前記トラック(1)と前記道路建設車両との間の材料移送中に前記道路建設車両と接触させずに、一定に維持する距離制御システムの使用であって、前記道路建設車両は、路面仕上げ機(3)または路面仕上げ機用のフィーダ(43)である、使用。
- 前記距離制御システムは、前記舗装方向に沿って駆動中の道路建設車両と前記道路建設車両の前で運転する前記トラック(1)との間の前記距離を決定するセンサ装置を備える、請求項14に記載の使用。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP20159469.4A EP3872258A1 (de) | 2020-02-26 | 2020-02-26 | Kontaktlose materialübergabe zwischem einem lkw und einem fahrenden strassenbaufahrzeug |
EP20159469.4 | 2020-02-26 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021134657A JP2021134657A (ja) | 2021-09-13 |
JP7108730B2 true JP7108730B2 (ja) | 2022-07-28 |
Family
ID=69740195
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021030002A Active JP7108730B2 (ja) | 2020-02-26 | 2021-02-26 | トラックとドライビング道路建設車両との間で接触しない材料移送 |
Country Status (5)
Country | Link |
---|---|
US (1) | US11959233B2 (ja) |
EP (1) | EP3872258A1 (ja) |
JP (1) | JP7108730B2 (ja) |
CN (2) | CN113387199B (ja) |
BR (1) | BR102021003418A2 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4275977A1 (en) * | 2022-05-12 | 2023-11-15 | Volvo Truck Corporation | A method of operating a vehicle feeding material to a road finishing machine |
CN115196372B (zh) * | 2022-06-30 | 2024-04-02 | 苏州艾氪英诺机器人科技有限公司 | 一种物料卸载控制方法、装置及电子设备 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002173908A (ja) | 2000-12-07 | 2002-06-21 | Katsuyama Kensetsu Kogyo Kk | 自動舗装方法 |
US20100296867A1 (en) | 2009-05-20 | 2010-11-25 | Joseph Voegele Ag | Road finisher |
US20160170415A1 (en) | 2014-12-12 | 2016-06-16 | Bomag Gmbh | Method For Controlling A Work Train |
US20170060126A1 (en) | 2015-08-25 | 2017-03-02 | Caterpillar Paving Products Inc. | System for Wireless Communications Between Machines |
JP2018190228A (ja) | 2017-05-09 | 2018-11-29 | 鹿島道路株式会社 | 車両誘導システム |
US20190248265A1 (en) | 2018-02-13 | 2019-08-15 | James Patrick Godwin, JR. | System and method for paving a surface and remotely controlling the flow of paving material from a dump truck into a hopper of a paver |
JP2019203374A (ja) | 2018-05-04 | 2019-11-28 | ヨゼフ フェゲーレ アーゲー | 舗装車列 |
US20190377363A1 (en) | 2016-11-18 | 2019-12-12 | Roadtec, Inc. | Automatic control of positioning of material transfer vehicle during a paving operation |
JP2020023869A (ja) | 2018-07-13 | 2020-02-13 | ヨゼフ フェゲーレ アーゲー | 重量センサを有するベルトコンベヤシステムを有する建設機械 |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH03199508A (ja) | 1989-12-28 | 1991-08-30 | Niigata Eng Co Ltd | 自走車両の連動走行制御装置 |
JPH0756322Y2 (ja) | 1991-04-17 | 1995-12-25 | 株式会社新潟鉄工所 | アスファルトフィニッシャにおける合材量の表示装置 |
DE9402324U1 (de) | 1994-02-11 | 1995-06-14 | Joseph Vögele AG, 68163 Mannheim | Straßenfertiger |
DE29617116U1 (de) | 1996-10-01 | 1996-11-21 | Joseph Vögele AG, 68163 Mannheim | Einbauzug |
DE29715467U1 (de) | 1997-08-28 | 1997-10-30 | Joseph Vögele AG, 68163 Mannheim | Vorrichtung zum Beschicken |
EP2006448A1 (de) * | 2007-06-21 | 2008-12-24 | Leica Geosystems AG | Einbauzug zum erstellen einer Belagschicht aus Beton- oder Asphalt-Material |
CN102409592B (zh) | 2011-09-21 | 2014-02-12 | 中联重科股份有限公司 | 摊铺机与自卸车的对接控制方法和系统 |
DE202012003689U1 (de) | 2012-04-10 | 2012-05-02 | Joseph Vögele AG | Baumaschine mit Signalisierungseinrichtung |
DE102015009699A1 (de) | 2014-08-15 | 2016-02-18 | Dynapac Gmbh | Straßenfertiger, Beschicker und Verfahren zur Herstellung eines Straßenbelags sowie Verfahren zum Betrieb eines Beschickers |
US9481964B1 (en) * | 2015-08-25 | 2016-11-01 | Caterpillar Paving Products Inc. | System for communications between plant and machines |
DE102016003562B4 (de) | 2016-03-23 | 2022-09-22 | Bomag Gmbh | Fräszug sowie Verfahren |
US20200292348A1 (en) * | 2016-05-17 | 2020-09-17 | Astec, Inc | Pavement data tracking and mapping system |
CN109177972B (zh) | 2018-07-26 | 2020-06-30 | 南京航空航天大学 | 一种车辆柔性避撞系统及其控制方法 |
US10685564B1 (en) * | 2019-02-06 | 2020-06-16 | Caterpillar Paving Products Inc. | Reducing paver mat variation during supply machine interface |
US11273752B2 (en) * | 2019-04-12 | 2022-03-15 | Caterpillar Paving Products Inc. | Illumination control system for mobile machines |
JP7022161B2 (ja) | 2020-02-14 | 2022-02-17 | ヤンマーパワーテクノロジー株式会社 | 自律走行システム |
-
2020
- 2020-02-26 EP EP20159469.4A patent/EP3872258A1/de active Pending
-
2021
- 2021-02-24 BR BR102021003418-1A patent/BR102021003418A2/pt not_active Application Discontinuation
- 2021-02-24 US US17/184,015 patent/US11959233B2/en active Active
- 2021-02-25 CN CN202110224089.XA patent/CN113387199B/zh active Active
- 2021-02-25 CN CN202120421100.7U patent/CN215904472U/zh not_active Withdrawn - After Issue
- 2021-02-26 JP JP2021030002A patent/JP7108730B2/ja active Active
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002173908A (ja) | 2000-12-07 | 2002-06-21 | Katsuyama Kensetsu Kogyo Kk | 自動舗装方法 |
US20100296867A1 (en) | 2009-05-20 | 2010-11-25 | Joseph Voegele Ag | Road finisher |
US20160170415A1 (en) | 2014-12-12 | 2016-06-16 | Bomag Gmbh | Method For Controlling A Work Train |
US20170060126A1 (en) | 2015-08-25 | 2017-03-02 | Caterpillar Paving Products Inc. | System for Wireless Communications Between Machines |
US20190377363A1 (en) | 2016-11-18 | 2019-12-12 | Roadtec, Inc. | Automatic control of positioning of material transfer vehicle during a paving operation |
JP2018190228A (ja) | 2017-05-09 | 2018-11-29 | 鹿島道路株式会社 | 車両誘導システム |
US20190248265A1 (en) | 2018-02-13 | 2019-08-15 | James Patrick Godwin, JR. | System and method for paving a surface and remotely controlling the flow of paving material from a dump truck into a hopper of a paver |
JP2019203374A (ja) | 2018-05-04 | 2019-11-28 | ヨゼフ フェゲーレ アーゲー | 舗装車列 |
JP2020023869A (ja) | 2018-07-13 | 2020-02-13 | ヨゼフ フェゲーレ アーゲー | 重量センサを有するベルトコンベヤシステムを有する建設機械 |
Also Published As
Publication number | Publication date |
---|---|
JP2021134657A (ja) | 2021-09-13 |
CN215904472U (zh) | 2022-02-25 |
BR102021003418A2 (pt) | 2021-09-08 |
US20210262177A1 (en) | 2021-08-26 |
US11959233B2 (en) | 2024-04-16 |
CN113387199A (zh) | 2021-09-14 |
EP3872258A1 (de) | 2021-09-01 |
CN113387199B (zh) | 2023-03-21 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN105735093B (zh) | 控制作业列车的方法 | |
JP7108730B2 (ja) | トラックとドライビング道路建設車両との間で接触しない材料移送 | |
US9957675B2 (en) | Cold planer loading and transport control system | |
US9562334B2 (en) | Method for controlling a loading process of a transport vehicle with milled material, device for implementing such a method and a milling device | |
US9845578B2 (en) | System for wireless communications between machines | |
US9611595B2 (en) | System for communications between plant and machines | |
US9481964B1 (en) | System for communications between plant and machines | |
US9873990B2 (en) | Paving machine having production monitoring system | |
US8954241B2 (en) | Mining truck spotting under a shovel | |
US10526755B2 (en) | Truck position control system for milling operations | |
US10907310B2 (en) | Automatic control of discharge conveyor of material transfer vehicle during a paving operation | |
JPH10207544A (ja) | 舗装車両コンボイ | |
US20180142427A1 (en) | Method and apparatus for automatically controlling a material transfer vehicle during a paving operation | |
US11731840B2 (en) | Truck detection sensor for material transfer vehicles | |
US20170030027A1 (en) | Monitoring system for paving machine conveyor system | |
US11052807B2 (en) | Hopper cleanout | |
US10688901B2 (en) | Intermediate storage vehicle for milled material and work train | |
CN115142319A (zh) | 用于使材料供应机器与铺路机器自主接合的系统和方法 | |
US20190169804A1 (en) | Road-building machine and method for operating a road-building machine | |
US12025990B2 (en) | Automatic control of positioning of material transfer vehicle during a paving operation | |
US20230349108A1 (en) | Steering control for paving machine | |
US20190377363A1 (en) | Automatic control of positioning of material transfer vehicle during a paving operation | |
CN210177317U (zh) | 摊铺机距离自动报警装置及摊铺机 | |
CN114901907A (zh) | 施工管理系统及沥青滚平机 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20210318 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20220128 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20220208 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20220421 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20220621 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20220715 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7108730 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |