EP3255239B1 - Engin doté d'une unité de calcul pour déterminer une zone de réglage - Google Patents

Engin doté d'une unité de calcul pour déterminer une zone de réglage

Info

Publication number
EP3255239B1
EP3255239B1 EP17178017.4A EP17178017A EP3255239B1 EP 3255239 B1 EP3255239 B1 EP 3255239B1 EP 17178017 A EP17178017 A EP 17178017A EP 3255239 B1 EP3255239 B1 EP 3255239B1
Authority
EP
European Patent Office
Prior art keywords
detecting
unit
drill device
rope
ground drill
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
EP17178017.4A
Other languages
German (de)
English (en)
Other versions
EP3255239C0 (fr
EP3255239A1 (fr
Inventor
Martin Lanzl
Josef Haas
Martin Mayr
Manfred Angermeier
Thomas Elsner
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.)
Bauer Maschinen GmbH
Original Assignee
Bauer Maschinen 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
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Application filed by Bauer Maschinen GmbH filed Critical Bauer Maschinen GmbH
Priority to EP17178017.4A priority Critical patent/EP3255239B1/fr
Publication of EP3255239A1 publication Critical patent/EP3255239A1/fr
Application granted granted Critical
Publication of EP3255239C0 publication Critical patent/EP3255239C0/fr
Publication of EP3255239B1 publication Critical patent/EP3255239B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/003—Drilling with mechanical conveying means
    • E21B7/005—Drilling with mechanical conveying means with helical conveying means
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B15/00—Supports for the drilling machine, e.g. derricks or masts
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
    • E21B41/0021—Safety devices, e.g. for preventing small objects from falling into the borehole
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation

Definitions

  • the invention relates to an earth drilling device according to claim 1 and a method for operating an earth drilling device according to claim 10.
  • tipping moments can occur. These tipping moments can be caused statically, for example by excessive loads, but also dynamically, for example by centrifugal forces.
  • a typical earth drilling rig is made from the DE 89 12 027 U1 This is known.
  • numerous measuring elements are provided to detect the position of components, such as the mast.
  • Pressure measuring elements are installed on the mast's support cylinders and the device's support feet to record load values.
  • Another earth drilling rig is from the DE 200 11 371 U1 known.
  • the object of the invention is to provide an earth drilling device which, with particularly high operational reliability, especially with regard to tipping safety, has a particularly large working radius, a particularly wide range of applications and a particularly high performance.
  • an earth drilling device comprising a carrier unit, an actuating unit which is adjustable relative to the carrier unit, at least one sensor for recording status data of the earth drilling device, and a computer unit by which, based on the recorded status data, at least An adjustment range of the actuating unit can be determined, within which the actuating unit can be adjusted with a given tilting stability of the earth drilling device.
  • the invention is based on the understanding that when adjusting a heavy actuating unit relative to the support unit, shifts in the center of gravity can occur, accompanied by corresponding variable tilting moments.
  • a computing unit determines an adjustment range within which the actuating unit can be moved safely relative to its support unit.
  • the safe adjustment range can, for example, be characterized by maintaining a predetermined tilt safety factor within it.
  • corresponding characteristic curve fields or tables can be stored in the evaluation unit.
  • the invention can be used particularly in mobile earth drilling rigs, as tipping stability is often a critical factor in these applications. Accordingly, it is advantageous for the support unit to have a chassis.
  • the support unit can be the undercarriage of the earth drilling rig.
  • the actuating unit comprises at least one deep-digging tool, namely a drilling tool.
  • the actuating unit can, for example, be designed as a rotary drilling drive and/or a vibratory drilling drive.
  • the actuating unit is advantageous for the actuating unit to be pivotable about a vertical axis relative to the support unit and/or radially adjustable to the vertical axis.
  • the vertical axis can be understood to be, in particular, an axis that runs at least approximately vertically.
  • the actuating unit, designed as a drilling drive is arranged on a mast that is radially adjustable relative to a superstructure, which in turn is pivotable relative to the support unit designed as a substructure.
  • the sensor according to the invention can acquire the status data by physical measurement. It can also be advantageous to provide at least one sensor that acquires status data entered manually by the operator. For example, the operator may be presented with a selection menu of possible drill pipe diameters, such as 880 mm or 1300 mm, or the drill pipe diameter may be automatically detected. Based on the input, the computer unit then determines different adjustment ranges, with the adjustment range typically being smaller for larger drill pipe diameters (and therefore heavier drill pipes) than for smaller diameters. If a sensor is provided for recording manually entered status data, it is advantageous for the computer unit to have a storage device for saving the manually entered data. This provides documentation to determine, in the event of malfunctions, whether the entered data was accurate.
  • Another preferred embodiment of the invention comprises a handling assistance switching device that can be operated by an operator and is in signal communication with the computer unit.
  • the computer unit is configured to modify the adjustment range depending on the switching state of the handling assistance switching device.
  • This embodiment takes into account that different operating modes frequently occur on the earthmoving equipment, requiring different considerations regarding tipping stability. For example, during drilling operations, additional forces often act on the drilling tool, which can increase the tendency to tip over, or work is carried out with an inclined mast, which can also increase the tendency to tip over. Therefore, a limited adjustment range can be determined by the computer unit during drilling operations.
  • the handling assistance control device can be implemented, for example, via a switch or a touchscreen, where the operator specifies whether a work mode, particularly drilling mode, or a handling mode is intended.
  • the handling assistance control device expediently includes a memory function designed to save the operator's selection.
  • Extending the adjustment range in handling mode requires limiting other operating parameters of the earthmoving equipment and the associated tipping moments. For example, an extended adjustment range in handling mode is only justified if the winch pulling forces of a main winch, an auxiliary winch, or a feed winch are below a permissible limit. To help the operator comply with these limits, it can be advantageous for the handling assistance control unit to have a display that shows the limits of these operating parameters when handling mode is selected. For example, the permissible winch pulling forces could be displayed.
  • a particular advantage is the provision of a limiting unit configured to limit at least one operating parameter of the earth drilling rig depending on the switching state of the handling assistance control unit.
  • the critical operating parameters can be automatically limited when the handling mode is selected on the handling assistance control unit.
  • the at least one operating parameter that is limited and/or displayed to the operator may, in particular, be winch pulling forces.
  • the limiting unit may reduce the torque of a feed winch and switch off an auxiliary winch when handling mode is selected.
  • the handling assistance switching device includes a protective device that prevents the effect of actuating the handling assistance switching device if at least one operating parameter of the earth drilling rig lies outside a predetermined range.
  • the effect of actuating the handling assistance switching device can be prevented if at least one operating parameter is atypical for handling operation, and thus an extension of the adjustment range is not justified.
  • the at least one operating parameter of the earth drilling rig may in particular be This concerns the upper structure's rotational speed and/or the mast's tilt.
  • Earth drilling rigs often have an upper structure that is rotatably mounted on the carrier unit around a vertical axis, and on which a mast is mounted that supports the operating unit. If the upper structure, along with the operating unit, is rotated around the vertical axis relative to the carrier unit, centrifugal forces can occur that dynamically increase the tendency to tip over. Therefore, a manual or automatic limitation of the upper structure's rotational speed can be advantageous.
  • the mast's tilt relative to the upper structure can also influence the tendency to tip over, so limiting the mast tilt can also be beneficial with regard to tipping safety.
  • the at least one operating parameter whose limits are displayed, which is limited by the limiting unit and/or which is taken into account by the protective device, may also be a rotation angle of the upper carriage relative to the undercarriage, since a mobile undercarriage is often not equally stable against tipping in all spatial directions.
  • the condition data used by the control unit to determine the adjustment range can include, in particular, a weight force on the actuating unit.
  • a weight force on the actuating unit For example, the pipe length at the actuating unit can be taken into account, because the longer the drill pipe hanging from the actuating unit, the greater the tendency to tilt.
  • At least one sensor is provided to detect the rotation angle of the superstructure. This is because the support unit is often not equally stable against tipping in all spatial directions. Thus, the rotation angle of the superstructure relative to the support unit, particularly around a vertical axis, also provides information about tipping stability.
  • a slide feed system can be understood, in particular, as a system that moves the actuating unit relative to the mast in a vertical direction.
  • the tensile and/or compressive force acting there can also influence the tipping moment.
  • At least one sensor is provided for detecting a tensile force in an auxiliary rope.
  • an auxiliary rope which can be used, for example, in the assembly of a drill string, can also cause tilting moments.
  • Another embodiment involves providing at least one sensor to detect at least one entry angle of the auxiliary rope, since the entry angle can also influence the tilting moment caused by the auxiliary rope.
  • the entry angle is determined in two spatial planes.
  • Another preferred embodiment of the invention consists in providing at least one sensor for detecting at least one tilt angle of the support unit.
  • the tilt angle is determined in two spatial planes.
  • the tilt angle of the undercarriage can also influence the tipping moments.
  • At least one sensor is provided for detecting at least one tilt angle of the mast.
  • the tilt angle of the mast can be understood, in particular, as the angle of inclination of the mast relative to the superstructure. This angle can also influence the tipping moments.
  • the angle of inclination is determined in two spatial planes.
  • At least one sensor is provided to detect the end position of the auxiliary rope. This allows for consideration of The load attached to the auxiliary rope may be subject to pendulum movements, which also contribute to the tipping moment.
  • the sensor for detecting the end position of the auxiliary rope can, in particular, be designed as a sensor for detecting the unwinding angle of a drum for the auxiliary rope.
  • At least one sensor may be provided for detecting the rotational speed of the superstructure.
  • Rotation of the superstructure relative to the carrier about the vertical axis is accompanied by corresponding centrifugal forces, which can also increase the tipping moment.
  • detecting the rotational speed of the superstructure relative to the carrier is advantageous.
  • At least one sensor is provided to detect the end position of a feed rope. This is because the position of the feed rope indicates the position of the actuating device and thus, in turn, the center of gravity, which is relevant for stability against tipping.
  • At least one sensor is provided for detecting the end position of the main rope. By detecting the end position of the main rope, center of gravity coordinates can be determined, which in turn determine the overturning moment.
  • the state data relate to the position of the mast support boom, the rotation angle of the superstructure, the tensile and/or compressive force in the feed system for the carriage, the tensile force in the main rope, the tensile force in the auxiliary rope, the at least one entry angle of the auxiliary rope, the at least one inclination angle of the support unit, the at least one inclination angle of the mast, the rope end position of the auxiliary rope, the wind speed, the rotation speed of the superstructure, the rope end position of the feed rope and/or the rope end position of the main rope.
  • a further preferred embodiment of the invention consists in the provision of a display device with which the adjustment range can be shown together with the current position of the actuating unit, and in the display device being configured to show the adjustment range and the current position in a single positional diagram.
  • the display device can be configured to represent the adjustment range by highlighting it in color.
  • the safe adjustment range and the actual current position of the actuating unit with respect to this adjustment range are visually displayed to the operator. This makes the tipping safety situation intuitively comprehensible to the operator.
  • the invention also relates to a method for operating an earth drilling rig according to the invention, comprising a carrier unit, an actuating unit adjustable relative to the carrier unit, at least one sensor for acquiring status data of the earth drilling rig, and a computer unit. It is provided that the computer unit determines, based on the acquired status data, at least one adjustment range of the actuating unit within which the actuating unit can be adjusted while maintaining a predetermined stability of the earth drilling rig.
  • the exemplary embodiments described in connection with the earth drilling rig according to the invention can also be used in connection with the method according to the invention, thereby achieving the advantages described in connection with the earth drilling rig.
  • the earth drilling rig 1 is designed as a mobile earth drilling rig. It has a carrier unit 10 designed as an undercarriage with a chassis 9 designed as a crawler track system. A superstructure 11 of the earth drilling rig 1 is arranged on this carrier unit 10. The superstructure 11 is pivotable about the vertical axis 3 on the carrier unit 10.
  • Mast support arms 12 are arranged on the superstructure 11, supporting a mast 14 and connecting it to the superstructure 11.
  • the mast support arms 12 are pivotable about horizontal axes. By pivoting the mast support arms 12, the mast 14 can be adjusted radially relative to the superstructure 11 and thus to the support unit 10.
  • a carriage 15 is arranged vertically on the mast 14.
  • An actuating unit 18, which forms a rotary drilling drive, is provided on this carriage 15.
  • the actuating unit 18 has a driven drilling tool 19, 20, which is formed by a drill string 19 with an auger 20 arranged on its underside.
  • the drill string 19 can be designed, in particular, as a Kelly bar.
  • the actuating unit 18 By pivoting the superstructure 11 relative to the support unit 10, the actuating unit 18 can also be pivoted about the vertical axis 3 relative to the support unit 10. By pivoting the mast support arms 12, the actuating unit 18 can be pivoted radially to the support unit 10 with respect to the vertical axis 3.
  • the drill string 19 of the deep drilling tool is suspended from a main cable 41, which runs around the top of the mast 14.
  • a main winch 42 is provided at the rear of the superstructure 11 or on the mast 14 for operating the main cable 41.
  • an auxiliary cable 44 runs around the mast 14 and can be operated by means of an auxiliary winch 45.
  • This auxiliary cable 44 can be used, for example, when the drill string 19 is mounted on the earth drilling rig 1.
  • a feed system is provided with a feed winch 48 and a feed cable 49 running around the mast 14, which is attached to the carriage 15.
  • a further sensor 54 is provided for detecting a tensile force in the main rope 41.
  • This sensor 54 is formed by a force measuring bolt in an upper rope deflection pulley of the main rope 41.

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Mechanical Engineering (AREA)
  • Earth Drilling (AREA)
  • Gear Transmission (AREA)

Claims (10)

  1. Appareil de forage du sol (1) avec
    - une unité de support (10),
    - une unité d'actionnement (18) qui est réglable par rapport à l'unité de support (10), où l'unité d'actionnement (18) présente un entraînement de forage pour un outil de forage du sol (20),
    - un câble principal (41) qui porte une tige de forage (19) s'étendant sur l'unité d'actionnement (18),
    - un câble auxiliaire (44) destiné à être utilisé lors du montage de la tige de forage (19),
    - au moins un capteur (51 à 64) pour détecter des données d'état de 1 'appareil de forage du sol (1), et
    - une unité de calcul (23),
    caractérisé en ce qu'
    - au moins un capteur (54) est prévu pour détecter une force de traction dans le câble principal (41),
    - en ce qu'au moins un capteur (55) est prévu pour détecter une force de traction dans le câble auxiliaire (44), et
    - en ce que l'unité de calcul (23) est réalisée pour ajuster, sur la base des données d'état détectées par les capteurs (54, 55), au moins une plage de réglage de l'unité d'actionnement (18) pour une stabilité au basculement prédéfinie de l'appareil de forage du sol (1).
  2. Appareil de forage du sol (1) selon la revendication 1,
    caractérisé en ce que
    l'unité de calcul (23) permet de déterminer la position de l'unité d'actionnement (18) à l'intérieur de la plage de réglage et, lorsqu'une limite de la plage de réglage est atteinte, d'émettre un signal, notamment un signal de commande pour l'unité d'actionnement (18).
  3. Appareil de forage du sol (1) selon l'une quelconque des revendications précédentes,
    caractérisé en ce que
    l'unité de support (10) présente un châssis (9) et
    en ce que l'unité d'actionnement (18) peut pivoter par rapport à l'unité de support (10) autour d'un axe vertical (3) et peut être réglée radialement par rapport à l'axe vertical (3).
  4. Appareil de forage du sol (1) selon l'une quelconque des revendications précédentes,
    caractérisé en ce qu'
    au moins un capteur est prévu, qui détecte des données d'état qui sont saisies manuellement par un opérateur.
  5. Appareil de forage du sol (1) selon l'une quelconque des revendications précédentes,
    caractérisé en ce qu'
    - il est prévu un dispositif de commutation d'assistance à la manutention (30) pouvant être actionné par un opérateur, qui est en communication de signalisation avec l'unité de calcul (23), où
    - l'unité de calcul (23) est adaptée pour modifier la plage de réglage en fonction d'un état de commutation du dispositif de commutation d'assistance à la manutention (30).
  6. Appareil de forage du sol (1) selon la revendication 5,
    caractérisé en ce qu'
    il est prévu une unité de limitation (32) qui est adaptée pour limiter au moins un paramètre de fonctionnement de l'appareil de forage du sol (1) en fonction de l'état de commutation du dispositif de commutation d'assistance à la manutention (30).
  7. Appareil de forage du sol (1) selon la revendication 5 ou 6,
    caractérisé en ce que
    le dispositif de commutation d'assistance à la manutention (30) comprend un dispositif de protection (33) qui empêche les effets d'un actionnement du dispositif de commutation d'assistance à la manutention (30) lorsqu'au moins un paramètre de fonctionnement de l'appareil de forage du sol (1) se situe en dehors d'une plage prédéfinie.
  8. Appareil de forage du sol (1) selon l'une quelconque des revendications précédentes,
    caractérisé en ce qu'
    - au moins un capteur (51) est prévu pour détecter une position d'une flèche de soutien de mât (12),
    - en ce qu'au moins un capteur (52) est prévu pour détecter un angle de rotation d'une structure supérieure (11),
    - en ce qu'au moins un capteur (53) est prévu pour détecter une force de traction et/ou de compression dans un système d'avance pour un chariot (15),
    - en ce qu'au moins un capteur (56, 57) est prévu pour détecter au moins un angle d'entrée du câble auxiliaire (44),
    - en ce qu'au moins un capteur (58) est prévu pour détecter au moins un angle d'inclinaison de l'unité de support (10),
    - en ce qu'au moins un capteur (59) est prévu pour détecter au moins un angle d'inclinaison d'un mât (14),
    - en ce qu'au moins un capteur (60) est prévu pour détecter une position d'extrémité de câble du câble auxiliaire (44),
    - en ce qu'au moins un capteur (61) est prévu pour détecter une vitesse du vent,
    - en ce qu'au moins un capteur (62) est prévu pour détecter une vitesse de rotation de la structure supérieure (11),
    - en ce qu'au moins un capteur (63) est prévu pour détecter une position d'extrémité de câble d'un câble d'avance (49), et/ou
    - en ce qu'au moins un capteur (64) est prévu pour détecter une position d'extrémité de câble du câble principal (41).
  9. Appareil de forage du sol (1) selon l'une quelconque des revendications précédentes,
    caractérisé en ce qu'
    - un dispositif d'affichage (24) est prévu, avec lequel la plage de réglage peut être affichée conjointement avec la position actuelle de l'unité d'actionnement (18), et
    - en ce que le dispositif d'affichage (24) est adapté pour représenter la plage de réglage ainsi que la position actuelle dans un schéma de position commun.
  10. Procédé pour faire fonctionner l'appareil de forage du sol (1) selon l'une quelconque des revendications 1 à 9.
EP17178017.4A 2010-04-16 2010-04-16 Engin doté d'une unité de calcul pour déterminer une zone de réglage Active EP3255239B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP17178017.4A EP3255239B1 (fr) 2010-04-16 2010-04-16 Engin doté d'une unité de calcul pour déterminer une zone de réglage

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP17178017.4A EP3255239B1 (fr) 2010-04-16 2010-04-16 Engin doté d'une unité de calcul pour déterminer une zone de réglage
EP10004084.9A EP2378053B1 (fr) 2010-04-16 2010-04-16 Machine de génie civil doté d'une unité de calcul pour déterminer une zone de réglage

Related Parent Applications (2)

Application Number Title Priority Date Filing Date
EP10004084.9A Division EP2378053B1 (fr) 2010-04-16 2010-04-16 Machine de génie civil doté d'une unité de calcul pour déterminer une zone de réglage
EP10004084.9A Division-Into EP2378053B1 (fr) 2010-04-16 2010-04-16 Machine de génie civil doté d'une unité de calcul pour déterminer une zone de réglage

Publications (3)

Publication Number Publication Date
EP3255239A1 EP3255239A1 (fr) 2017-12-13
EP3255239C0 EP3255239C0 (fr) 2026-02-11
EP3255239B1 true EP3255239B1 (fr) 2026-02-11

Family

ID=42735735

Family Applications (2)

Application Number Title Priority Date Filing Date
EP10004084.9A Active EP2378053B1 (fr) 2010-04-16 2010-04-16 Machine de génie civil doté d'une unité de calcul pour déterminer une zone de réglage
EP17178017.4A Active EP3255239B1 (fr) 2010-04-16 2010-04-16 Engin doté d'une unité de calcul pour déterminer une zone de réglage

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP10004084.9A Active EP2378053B1 (fr) 2010-04-16 2010-04-16 Machine de génie civil doté d'une unité de calcul pour déterminer une zone de réglage

Country Status (6)

Country Link
US (1) US8538670B2 (fr)
EP (2) EP2378053B1 (fr)
JP (1) JP5395109B2 (fr)
CN (1) CN102220839B (fr)
BR (1) BRPI1101542B1 (fr)
RU (1) RU2471981C2 (fr)

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EP2801668A1 (fr) * 2013-05-10 2014-11-12 BAUER Maschinen GmbH Dispositif de creusement pour la réalisation d'une fente dans le sol
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JP2011226259A (ja) 2011-11-10
US20120072081A1 (en) 2012-03-22
CN102220839B (zh) 2014-02-12
EP3255239C0 (fr) 2026-02-11
RU2471981C2 (ru) 2013-01-10
US8538670B2 (en) 2013-09-17
EP3255239A1 (fr) 2017-12-13
JP5395109B2 (ja) 2014-01-22
EP2378053B1 (fr) 2019-08-28
EP2378053A1 (fr) 2011-10-19
CN102220839A (zh) 2011-10-19
HK1162631A1 (en) 2012-08-31
BRPI1101542A2 (pt) 2014-01-07
BRPI1101542B1 (pt) 2020-08-25
RU2011109915A (ru) 2012-09-27

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