WO1999021784A1 - Methode d'elaboration de profil de charge - Google Patents
Methode d'elaboration de profil de charge Download PDFInfo
- Publication number
- WO1999021784A1 WO1999021784A1 PCT/JP1998/004827 JP9804827W WO9921784A1 WO 1999021784 A1 WO1999021784 A1 WO 1999021784A1 JP 9804827 W JP9804827 W JP 9804827W WO 9921784 A1 WO9921784 A1 WO 9921784A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- area
- loading
- loading pattern
- figures
- screen
- Prior art date
Links
Classifications
-
- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
- B65H54/28—Traversing devices; Package-shaping arrangements
- B65H54/2821—Traversing devices driven by belts or chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
- B65H54/28—Traversing devices; Package-shaping arrangements
- B65H54/2821—Traversing devices driven by belts or chains
- B65H54/2824—Traversing devices driven by belts or chains with at least two traversing guides travelling in opposite directions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
- B65H54/38—Arrangements for preventing ribbon winding ; Arrangements for preventing irregular edge forming, e.g. edge raising or yarn falling from the edge
- B65H54/385—Preventing edge raising, e.g. creeping arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/31—Textiles threads or artificial strands of filaments
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40006—Placing, palletize, un palletize, paper roll placing, box stacking
Definitions
- the present invention relates to a method for creating a loading pattern, and more particularly to a method for creating a loading pattern for palletizing articles by a robot.
- FIG. Figure 5 is a plan view of the loading pattern.
- reference numeral 31 denotes a rectangular castle having a length of L and a width of L + 2W, which corresponds to a plane shape of a note.
- 32, 33, and 34 are rectangles having a length of L and a width of W, and correspond to the planar shape of the articles loaded on the pallet.
- This figure shows that on the pallet, articles corresponding to rectangles 32 are first placed, then articles corresponding to rectangles 33 and then rectangles 34 are placed in that order, and the loading pattern of arranging them in an H shape is shown. Shows.
- the arrow 38 is a symbol indicating the direction of the rectangles 32, 33, and 34, and indicates the direction in which the claw of the hand gripping the article escapes. In other words, if there is an article placed first in the direction of arrow 38, the nail and the article will interfere.
- the operator had to code in the form of numerical data that could be read by the teaching program.
- the numerical data describes the size of the pallet and the size of the article according to a predetermined format, and further describes the position and direction of the article for each article according to the loading order. Workers read these data from the loading pattern created earlier and coded them manually.
- the present invention displays an area showing a plane shape of a pallet on a display screen of a computer, and displays the plane shape and direction of the article at a place different from the area on the screen.
- FIG. 1 is an explanatory view of an embodiment of the present invention, (a) is a configuration diagram of a personal computer, (b) is a flowchart, and (c) is a diagram showing a screen displayed on the personal computer. is there.
- FIGS. 2A and 2B are explanatory diagrams of a second embodiment of the present invention.
- FIG. 2A is a diagram showing a screen display before the operation
- FIGS. 2B, 2C, and 2D are screen displays after the operation.
- FIG. FIG. 3 is an explanatory view of a third embodiment of the present invention, wherein (a) shows a screen display before operation.
- (B) and (C) are views showing the screen display after the operation.
- FIGS. 4A and 4B are explanatory diagrams of a fourth embodiment of the present invention.
- FIG. 4A is a diagram showing a screen display before an operation
- FIG. 4B is a diagram showing a screen display in an operation process
- c) is a diagram showing the screen display after the operation.
- FIGS. 5A and 5B are explanatory diagrams of a conventional technique, in which FIG. 5A is a plan view showing a loading pattern, and FIG. 5B is a flowchart.
- FIG. 1 is an explanatory view showing a first embodiment of the present invention
- FIG. 1 (a) is a configuration diagram of a personal computer for creating a loading pattern
- FIG. 1 (b) is a flow chart
- 1 (c) is a diagram showing a screen display.
- reference numeral 1 denotes a main body of a personal computer.
- a keyboard 2, a mouse 3, and a display device 4 are connected to the main body 1.
- Mouse 3 has two buttons, left and right.
- step ST11 is a step of inputting the dimensions of the pallet and the articles loaded on the pallet to the personal computer via the keyboard 2.
- step ST12 is a step of displaying an area showing the planar shape of the pallet on the display device 4.
- Step ST 13 is a step of displaying a figure showing the planar shape of the article on the display device 4.
- Step ST14 is a step in which the operator moves the graphic to a desired position in the area and determines a position where the article is to be loaded on the pallet.
- Step ST15 is a step in which an operator selects a direction of the article when the article is placed on the pallet.
- Step ST16 is a step of determining whether or not to successively load articles on the pallet.
- Steps ST13 to ST13 are performed until a predetermined number of figures are arranged in the area. Repeat up to 16.
- the above flow will be described again with reference to the screen displayed on the display device 4.
- 21 is an area showing a conveyor
- 22 is an area showing a pallet
- 23 is a figure showing a plane shape of an article.
- the relative positions of the areas 21 and 22, the figure 23, and the robot not shown Is set to At the stage where step ST 13 is completed, the area 21, the area 22, the figure 23 and the force S are displayed on the screen of the display device 4.
- 23 a is a mark indicating the direction in which the claw of the hand holding the article escapes in the actual machine
- 23 b is a mark indicating the label attaching surface of the article. In this figure, the claws of the hand escape to the top of the figure, and the label is attached to the right side of the article.
- the origin for positioning the figure 23 based on the area 22 representing the pallet is not limited to the left shoulder 22a, and any point at the four corners of the area 22 can be selected.
- the above displays will show “1—B” and “1”, respectively. — CJ and “1—D”. In other words, you can start loading goods from any corner of the pallet. Of course, you can start loading near the center of the pallet.
- the positional relationship between the conveyor, the robot and the pallet, and the dimensions of the articles and the dimensions of the pallets are stored in the computer in the form of variables, the positional relationship and the dimensions of the articles can be changed.
- the operation program of the mouth pot can be changed simply by changing the value of the variable.
- FIG. 2 is an explanatory view showing a second embodiment of the present invention.
- reference numeral 24 denotes a first figure, whose position and direction have already been determined. 25 is a second figure following figure 24 to determine the placement. Reference numeral 26 denotes a mouse pointer indicating a position on the screen indicated by the mouse 3. P, Q, R, and S are the four vertices of figure 24.
- Figure 24 is composed of 12 positioning areas, PQ1, PQ2, PQ3, QR1, QR2, QR3, RS1, RS2, RS3, SP1, SP2, SP3 and the center. Divided into C.
- the mouse 3 is operated, and the mouse pointer 26 is moved to a position where the mouse pointer 26 points to the second figure 25 on the screen, and the left figure of the mouse 3 is pressed to specify the second figure 25.
- the right button of the mouse 3 is pressed to point the second figure 25 in a desired direction.
- the mouse 3 is moved to move the second figure 25 to the first figure 24.
- the mouse pointer 26 is moved to the positioning area RS1, RS2 or RS3.
- the mouse pointer 26 is placed in the positioning area R S1
- the second figure 26 adheres to the side R S on the basis of the vertex R as shown in FIG.
- the second figure 26 adheres to the side R S with the vertex S as a reference, as shown in FIG.
- the mouse pointer 26 is placed in the positioning area R S2
- the second figure 26 closely adheres to the side RS with reference to the midpoint of the side RS. In this way, when the mouse pointer 26 is moved to the positioning area where the position of the second figure 25 becomes a desired one, and the left button of the mouse 3 is released with, the second figure is obtained.
- the layout of the shape 25 is determined. If you want the second figure 25 to be in close contact with the first figure 24 by the side QR, move the mouse pointer 26 to the positioning area QR 1, QR 2 or QR 3. The same applies to sides PQ and SP.
- the mouse pointer 26 is moved to the center portion C, no operation is performed.
- the illustration is omitted. However, as in the first embodiment, the first figure 24 includes "1-1".
- the character “ ⁇ ” is displayed, and “2-1” is displayed in the second figure 25.
- “2-1” is the second item to be loaded, and indicates that the position is determined in the coordinate system based on the first item to be loaded. In this way, the coordinate system serving as the basis for determining the loading order and position of the articles is displayed on the figure.
- FIG. 3 is an explanatory diagram of a third embodiment of the present invention.
- the graphic 27 is a graphic arranged in the area 28. Now, as shown in FIG. 3 (a), three figures 27 arranged in series are continuously selected. Next, when the centering is selected, the three figures 27 are densely arranged in the center of the area 28 as shown in FIG. 3B, and when the equidistant arrangement is selected, the three figures 27 are displayed. Are arranged at equal intervals between the left and right borders of the region 28 as shown in FIG. 3 (c). To select the centering and the equidistant arrangement, click a menu on a screen (not shown).
- FIG. 4 is an explanatory diagram of a fourth embodiment of the present invention.
- reference numeral 29 denotes a figure arranged in the area 30.
- Fig. 4 (b) select figure 29 with mouse pointer 26 and drag mouse pointer 26 diagonally to connect figure 29 with the point specified by mouse pointer 26.
- Figure 4 (c) the lines are arranged vertically and horizontally so that they are laid in a rectangular area defined by the diagonal lines.
- the present invention has the following effects.
- the loading pattern is created while checking the direction of the articles to be loaded on the display screen of the computer, the loading pattern can be created in a short time without error.
- the present invention is useful as a loading pattern creation method, particularly as a method for creating a loading pattern for palletizing articles by a robot.
Landscapes
- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Manipulator (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
- Processing Or Creating Images (AREA)
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE69832896T DE69832896T2 (de) | 1997-10-27 | 1998-10-23 | Verfahren zur erzeugung von lademustern |
US09/530,107 US7061508B1 (en) | 1997-10-27 | 1998-10-23 | Loading pattern generating method |
EP98950378A EP1020383B1 (en) | 1997-10-27 | 1998-10-23 | Loading pattern generating method |
KR10-2000-7004230A KR100490780B1 (ko) | 1997-10-27 | 1998-10-23 | 적재패턴 작성방법 |
AU96478/98A AU749798B2 (en) | 1997-10-27 | 1998-10-23 | Loading pattern generating method |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP9311285A JPH11130263A (ja) | 1997-10-27 | 1997-10-27 | 積載パターン作成方法 |
JP9/311285 | 1997-10-27 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1999021784A1 true WO1999021784A1 (fr) | 1999-05-06 |
Family
ID=18015304
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1998/004827 WO1999021784A1 (fr) | 1997-10-27 | 1998-10-23 | Methode d'elaboration de profil de charge |
Country Status (8)
Country | Link |
---|---|
US (1) | US7061508B1 (ja) |
EP (1) | EP1020383B1 (ja) |
JP (1) | JPH11130263A (ja) |
KR (1) | KR100490780B1 (ja) |
CN (1) | CN1090142C (ja) |
AU (1) | AU749798B2 (ja) |
DE (1) | DE69832896T2 (ja) |
WO (1) | WO1999021784A1 (ja) |
Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003150219A (ja) * | 2001-11-12 | 2003-05-23 | Fanuc Ltd | 作業機械のシミュレーション装置 |
DE102004006596B4 (de) * | 2004-02-10 | 2007-02-15 | Vision Tools Bildanalyse Systeme Gmbh | Handeingabe von Werkstückposen |
DE102005053296B4 (de) * | 2005-11-08 | 2009-08-13 | Kuka Innotec Gmbh | Verfahren und Vorrichtung zum automatisierten Stapeln von Reifen auf einem Träger |
DE102006003859B3 (de) * | 2006-01-27 | 2007-03-01 | Robert Bosch Gmbh | Verfahren zum Ablegen von Stückgütern in Behälter |
DE112008002676T5 (de) * | 2007-10-08 | 2010-11-04 | Binar Aktiebolag | Musterplatzierung für robotergestütztes Packverfahren |
IT1391834B1 (it) * | 2008-11-14 | 2012-01-27 | Mectra S P A | Sistema di pallettizzazione di pacchi o fardelli con contorni definiti e regolari e omogenei in altezza |
US20110078182A1 (en) * | 2009-09-28 | 2011-03-31 | Gm Global Technology Operations, Inc. | Systems and methods for generating a list of vehicles and for providing instructions for loading storage space |
MX358984B (es) | 2013-01-15 | 2018-09-11 | Wynright Corp | Cargador/descargador automático de neumáticos para apilar/desapilar neumáticos en un trailer. |
CN104528389B (zh) * | 2014-12-24 | 2017-06-30 | 天津商业大学 | 一种错位码垛规划的方法 |
KR101813887B1 (ko) * | 2015-08-03 | 2018-01-04 | 삼성에스디에스 주식회사 | 팔레트 적재를 위한 가이드 제공 방법 및 그 장치 |
HUE060686T2 (hu) * | 2016-08-09 | 2023-04-28 | Herbert Fellner | Eljárás vegyes termékek összeszedésére egy célraklapra |
CN108275294B (zh) * | 2017-01-06 | 2020-06-05 | 北京京东尚科信息技术有限公司 | 码垛方法、码垛装置、计算机可读存储介质及电子设备 |
JP2018203400A (ja) * | 2017-05-30 | 2018-12-27 | 株式会社エヌテック | 積付装置及び積付方法 |
CN107491028A (zh) * | 2017-07-26 | 2017-12-19 | 江苏新美星包装机械股份有限公司 | 垛型编辑方法和装置 |
US10679379B1 (en) | 2019-05-31 | 2020-06-09 | Mujin, Inc. | Robotic system with dynamic packing mechanism |
US10647528B1 (en) | 2019-05-31 | 2020-05-12 | Mujin, Inc. | Robotic system for palletizing packages using real-time placement simulation |
US11077554B2 (en) | 2019-05-31 | 2021-08-03 | Mujin, Inc. | Controller and control method for robotic system |
CN111559544B (zh) * | 2019-05-31 | 2021-05-11 | 牧今科技 | 具有错误检测和动态打包机制的机器人*** |
US10696494B1 (en) | 2019-05-31 | 2020-06-30 | Mujin, Inc. | Robotic system for processing packages arriving out of sequence |
US10618172B1 (en) | 2019-05-31 | 2020-04-14 | Mujin, Inc. | Robotic system with error detection and dynamic packing mechanism |
US10696493B1 (en) | 2019-05-31 | 2020-06-30 | Mujin, Inc. | Robotic system with packing mechanism |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60209439A (ja) * | 1984-04-02 | 1985-10-22 | Hitachi Ltd | 貨物の積付制御装置 |
JPH06243209A (ja) * | 1993-02-18 | 1994-09-02 | Dainippon Printing Co Ltd | 集積函レイアウト装置 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS56153434A (en) * | 1980-04-30 | 1981-11-27 | Ricoh Co Ltd | Contact detecting circuit for keyboard |
US4641271A (en) | 1983-11-09 | 1987-02-03 | Hitachi, Ltd. | Piling planning method and piling system of cargoes by palletizing robot |
US5844807A (en) * | 1995-11-09 | 1998-12-01 | Marquip, Inc. | Automated system and method for optimizing and palletizing articles |
JPH10118895A (ja) * | 1996-10-25 | 1998-05-12 | Toshiba Mach Co Ltd | 生産システムの制御装置及び制御方法 |
US5996316A (en) * | 1997-04-25 | 1999-12-07 | The Coca-Cola Company | System and method for order packing |
US5984503A (en) * | 1997-08-15 | 1999-11-16 | Vickers, Incorporated | Method and apparatus for entering and displaying structure information in a machining system |
JPH11116056A (ja) * | 1997-10-14 | 1999-04-27 | Okura Yusoki Co Ltd | 積付パターン生成装置および積付装置 |
US5889523A (en) * | 1997-11-25 | 1999-03-30 | Fuji Xerox Co., Ltd. | Method and apparatus for dynamically grouping a plurality of graphic objects |
-
1997
- 1997-10-27 JP JP9311285A patent/JPH11130263A/ja active Pending
-
1998
- 1998-10-23 US US09/530,107 patent/US7061508B1/en not_active Expired - Fee Related
- 1998-10-23 WO PCT/JP1998/004827 patent/WO1999021784A1/ja active IP Right Grant
- 1998-10-23 CN CN98810568A patent/CN1090142C/zh not_active Expired - Fee Related
- 1998-10-23 EP EP98950378A patent/EP1020383B1/en not_active Expired - Lifetime
- 1998-10-23 DE DE69832896T patent/DE69832896T2/de not_active Expired - Fee Related
- 1998-10-23 KR KR10-2000-7004230A patent/KR100490780B1/ko not_active IP Right Cessation
- 1998-10-23 AU AU96478/98A patent/AU749798B2/en not_active Ceased
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60209439A (ja) * | 1984-04-02 | 1985-10-22 | Hitachi Ltd | 貨物の積付制御装置 |
JPH06243209A (ja) * | 1993-02-18 | 1994-09-02 | Dainippon Printing Co Ltd | 集積函レイアウト装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP1020383A4 * |
Also Published As
Publication number | Publication date |
---|---|
EP1020383B1 (en) | 2005-12-21 |
CN1277591A (zh) | 2000-12-20 |
KR100490780B1 (ko) | 2005-05-19 |
EP1020383A4 (en) | 2004-06-09 |
US7061508B1 (en) | 2006-06-13 |
AU9647898A (en) | 1999-05-17 |
DE69832896D1 (de) | 2006-01-26 |
CN1090142C (zh) | 2002-09-04 |
KR20010015782A (ko) | 2001-02-26 |
EP1020383A1 (en) | 2000-07-19 |
AU749798B2 (en) | 2002-07-04 |
DE69832896T2 (de) | 2006-07-27 |
JPH11130263A (ja) | 1999-05-18 |
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