Title of Invention

METHOD AND APPARATUS FOR DETECTING THE POSITION OF A VEHICLE IN A PREDETERMINED AREA

Abstract

The invention relates to a method and a device for detecting the position of a vehicle (F1-F4) in a given area (100), especially a storage facility. The inventive method comprises the following steps: the size and angle of incremental movement vectors relating to the movement of the vehicle (F-1) is detected; a respective reference position of the vehicle (F1-F4) is automatically determined at predetermined locations (O1-O4) inside the given area (100) whenever the vehicle (F1-F4) passes a corresponding location (O1-O4); the current position of the vehicle (F1-F4) inside the given area (100) is detected by means of vectorial summation of the detected incremental movement vectors with respect to the location vector of the temporary reference position. Automatic determination is carried out by a sensor (L1, L2, MS) which is arranged on the vehicle (F1-F4) and interacts in a contactless manner with a respective reference marking (MS) in the corresponding location (O1-O4) exhibiting reflecting and non-reflecting areas (R1, R2; D) which are scanned simultaneously by the vehicle (F1-F4) by means of at least two signals (ST1,ST2). The coordinates (x,y) of the reference position and, optionally, the angle of passage ($g(a)) are determined by evaluating the variation in time of the reflected intensity of said signals (ST1,ST2).

Full Text

The present ir.ver.tic" rela~as -c a "ethcd and apparatus for detecting "he posiricr. ci a vehicle ir. a predetermined ares, in parcicuiar a s::orage facility, and to a store manageT.ent .-ne-hod and system. ,^ 44_29C16 Al discloses an apparatus and a method for navigation of driverless vehicles. In this case, the magnitude and angle of incremental movements from the ir.oticn of the vehicle are de-ected by m;eans of an integrated navigation apparatus. Furtherir.ore, a respective reference position cf the vehicle is fixed automaticaliy at predetermined points within a pre¬determined area by means of a CCD camera whenever the vehicle passes an appropriate peine. Furthermore, the current position of the vehicle in xhe predetermined area is detected by veo-orial suTi-maricn of cne detected incremental motion vectors by means of a.n evaluation unit, to form the positicn vector ralated to nhe current reference position. The position and orientation identification described there are disadvantageously derived from a very expensive CCI camera and a high-contrast lighcinc means in the form, of a ceiling 1 amp . Failure cf th.e 1 am.p leads to loss cf DDsi-ion. CF 3490712 C2 discloses a -rehicle control and managem.eni: systemi with a m,ovem.ent drive device for driving the vehicle, a steering device for ccnrrolling davies for calcularing che positicn of rhe vehicle ;rac' the vehicle along nhe aes i red rouze, and a device ror savina the position ci cne cr -ere fixed-ocsition rererence aestmac D£ 35383C8_A_1 discloses an ac-cncxcus or.-bcard pos ition- finding sys~e~. for positicr. deterHiination and collision protection for robot vehicles and industrial trucks, based on the integrated navigation method, on predetermined routes. The current width and length are determined continuously, by means of an addition circuit, using at least or.s distance sensor v;ithin the system. These sensor values are processed in such a way that a control signal is produced to guide the vehicle safely along the center- c; z'r.e route. ! DE 4039887 Al discloses a further known vehicle Irianagement and destination routing system.. Although it car', be applied to any desired vehicles and areas, the present invention, as v;ell as the problems on which it is based, ■.vill be explained with respect ro two forklift trucks in a" storage facility, as components of a store manacem,ent system. A store managemeno syscemi, monitors, controls, documents and analyses the movemeno of goods in a storage depot. Transport vehicles, such as forklift trucks, are . Important factors v;hich reflect the quality of such a system, are uhe access tim.es, the acquisition cim,es and the accuracy wi~h which srorage locaoions are oeterm.insd . 3y way of example, one kncv;n sysre.m uses fixed predeterm.ined routes for transpcrtation vehicles, for exa.mple on rails, s.T.d posicion sensors installed on — chsm. The above known apprcacr. has hear, four.d co have the disadvar.tage tha" cr.ly predecerrr.ir.ed roures can ce used, ap.d instaLlat ior. and rer, r ^^i^iing in.vc Lve a r.sed for coT.pZex changes lo the sy"S"er:.. A syste.iT with non-contacting position detection, such as the known GPS systeir^. {Globai Positioning SysterrO wouid be aore expedieno, The pes it ions which occur in. the storage areas ana which need tc be classified are, however, in the range of centi-T.eters or less (for example in the region of 40 err, for European standard pallets). Such high position resolution cannot be achieved, however, with che known differential GPS system whose resolution capabii ity is typically only about 1 m. Furthermore, the GPS system cannot be used within closed rooms, owing to the shielding effects, One object of one present invention is thus to provide a mechod and apparatus for detec-^ing the position of a vehicle in a predetermined area, in particular a storage facility, v/hich allows more accurate and r.ore reliable position findings, and which requires only minor changes to nhe area, or the storage areas. A further obj ect is to ore vide a storage manaaerr.ent I method and svstem. the invennion and having the features claim 1, l 5.s corresponding appa'ratus as claimed 67S ha'/e, in contrast to , the advantage ohac ihey to the existin^g area cr storage areas. ?..etrofitting is " thus feasible without 3.-r;--y' problems, in addition zo ini:iai equipmeno. The idea on which the prsser is based is to automatically fix a respective refere r.ce position cf she respective vehicle at predetermined points within the predecer~ir.ec. area wh e r. e v e r the vehicle passes a corresponding point. The 5utcrr.a~.ic fixing cf a respect ive reference position of the vehicle at the predetermined points is carried out by means of s second sensor device, which is fitted to the vehicle and interacts, in a non-contacting manner, with a respective reference marking at the corresponding point within the predeterx.ir.ed area. The respective reference marking has reflective and r.on-ref iective areas, which the vehicle scans simultaneously by means of two signals, with the coordinates cf the reference position and, optionally, the through-movement angle being determined by evaluating the time profile of the reflected intensity of the sicnais. The dependent claims ;) relate to advantageous dev"e"l"opmehts "and improvements cf the respective subject matter of the invention. According to one prererreo development, the signal carriers"~are" light beams, preferably laser beams, or magnetic induction lines of force. According to a further preferred embodiment, the respective reference .marking has a rectangular strip, which has two reflective areas and one r.on-ref Iective area along the rectangle diagonals, under which the vehicle moves. This reference marking advantageously allows an analytical solution for determination of the coordinates of the reference position and of zhe two-movement angle by evaluating the time profile of the reflected intensity of the signals. According to a further preferred development:, the magnitude and the ar.gie of incremental motion vectors relating to the movement ci the vehicle are detected by means of a first senser device, which is fitted to the vehicle. This preferably comprises a gyrate r for ar.gie determination, and an er.cccer for length determination. According tc a further preferred development, the automatic fixing of a respective reference position of the vehicle is carried cut such thac the statistical discrepancy between the detected current position and the actual position does not exceed a predetermined limit value, DRAWINGS Exemplary embodiments of the invention will be explained in more detail in the following description, and are illustrated in the drawings, in which: Figure 1 shows a schematic illustration of a storage facility, in which one embodiment of the aocaratus according to the invention can be used; Figure 2 shows an illustration cf a measurement strio and of a vehicle according to the embodinent cf the apparatus according to the invention shown. in F i c u r e 1 ; Figure 3 shows an illustration of a measurement stric in order tc explain the automatic fixing cf a respective reference position of the vehicle; Figure 4 shews an illustration cf laser signals, which are reflected from the measurement strip, as a function cf time for two different through-m.ovement angles; and Figure 5 shews an illustration of a measurement stric in order to exclair. the crocess of determining x, y ar.d a. DESCRIPTION CF THS EXEMPLARY EMBODIMENT In the figures, identical reference s y mb ols denote identical or functionally identical components. Figure 1 shows a schematic illustration of a storage facility, in which one embodiment of the apparatus according to the invention can be used. In Figure 1, 100 denotes a predetermined area in the form of a storage facility, 31-33 denote storage area elements, T denotes a separating wall, El and E2 denote delivery inputs, Al and A2 denote dispatch outputs, Sl-S4 denote store routes, F1-E4 denote vehicles in the form of forklift trucks, and, 01-04 denote reference points with measurement strips. The forklift trucks EI-F4 are equipped with graphics terminals, which are not illustrated but are compatible with radio networks. These communicate, for example via a serial interface, with a position transmitter, which is likewise not illustrated. This uses the transmitted sensor data to fix the precise position of the respective forklift truck F1-E4 ir. the store, and transmits this to tine fcrkiift truck terminal. In addition to this position data, the terminal indicates the forklift truck driver loading jobs intended for him. All forklift truck drivers can also use suitable masks and menus to make manual inputs, such as recording of coeds for which there is zero stock, ~-C3.c, corrections and lifting operation errors, following the presence message. Each forklift truck F1-F4 nas a pressure and strain gauge sensor system f [Zy\3 sensor system) on the forks of the trucks, by means cf which it is possible tc determine wnether the relevant forklift truck F1-F4 is cr is not currently transporting any gooos, and to determine the respective number of items tn the stack. All the forklift truck terminals interact either independently {online mode) or with a time offset (offline mode) with the stationary central computer. The online mode is the normal situation. If all the forklift truck terminals have been operated offline, then, once they return to the online mode, the goods movements which have been carried out in the offline mode must be synchronized before returning to the online mode, in order to update the stocks in the database of the stationary central computer. Typical functions in such a store management system are, by way of example: storage of goods delivered from production or from a ; supplier; ! removal of goods which have oeer. stored; finding specific coeds which have bean stored; relocation of goods -which have been stcred; production of inventory c: all the goods that have beer, stored. Figure 2 shews an illustration cf a measurement strip and cf a venicle, corresponding tc the embodiment of the apparatus according to the invention shown in / Figure 1. Ir. Fiejre 2, MS denotes measurement strips which are fitted at the points 01-04 en the ceiling cf the storage facility as shown ir. Figcre 1, D denotes a r.cn-reflective diagonal area, Rl and ?.2 denote reflective area elements, LI, and L2 denote a first and second laser device, respectively, ST1 and ST 2 denote a first and a second laser beam,, respectively, 10 denotes a first sensor device, 23 denotes a microcomputer, and 30 denotes a transmi11irig/receiving unit. 7hs following text uses the example of the forklift truck Fl to explain in more detail how, in this embodiment of the invention, the position of each of the forklift trucks F1-F4 is determined continuously in the storage facility 1GC. The first sensor device 10 in the forklift truck Fl contains a rotating sensor system on a gyracor basis, and a translations! sensor system en an encoder basis. In this example, the cryrator has a resolution of 0.1° and is a piezoelectric gyro, whose measurement crincicle corresoonds to that of a Focault oendulum, which means chat it makes use of the Coriolis force. Specifically, this Coriolis force acts at right angles to a body that is vibrating linearly. The force is oropcrtional tc the angular velocity, and the desired angle can be obtained by appropriate integration. In this examoie, the encoder has a resolution in the centrimetric range, typically 30-40 cm in about 50C m, and is, for example, an inductive transmitter, which scans the wheel hub. If selected appropriately, it can detect corn forward and reverse movements ana corrections can be expediently carried out for a ■different wheel ci rcumf erence . The positioning accuracy which can be achieved in this way, provided there is r.c slip, the ■wheel diameter is constant, and with a resolution of 43 culses per resolution is ± 4.8 or, with ar. angular offset cf 17.4 cm, ever a straight line movement of 100 m. This sensor device 1C thus allows continuous detection of the magnitude and cf the angle of incremental motion vectors relating to the movement cf the vehicle Fl. Thus, in principle, once a reference point has been fixed, the current location of the forklift truck Fl can be represented as a vector, which is a vector sum of the incremental motion vectors detected by the sensor device 10. However, this results in a probiera, in. that the accuracy of the current location relative to the reference point decreases as the number of detected incremental motion vectors increases, since each detection increments! motion vector is subject to a finite detection error. Thus, in this embodiment of the invention, the reference position of the vehicle Fl is automatically fixed fence again) at the predetermined points 0^-34 within the storage facility 100 whenever the vehicle Fl passes a corresponding point 01-04. The points 01-04 are chosen such that the probability of a respective vehicle passing their, is high. The current position of the vehicle Fl in the predetermined area ICC is thus detected by a vectorial addition cf the detected incremental motion vectors with respect to the position vector cf the current reference position, and this is refreshed automatically, continuously. This makes it possible to avoid the problem of decreasing position finding accuracy, so that high-accuracy position data is always obtained, typically in the centrimetric range. As can be seen from figure 3, -he respective reference marking cr the reference strip MS is a rectangular strip, typically with a width cf 10 cm and a length cf 50G cm, which has two reflective areas Rl, R2 and a non-reflective area 0 along the rectangle diagonals. T.te measurement strio MS is fitted at the points 01-04 such that the vehicle Fl moves past underneath them and, at the same time, the strip is scanned by means of the two laser beams ST1, ST2, which are at a main distance d from one another. In this case, the coordinates of the reference position are determined by evaluating the time profile of the intensity of the laser beams ST1, ST2 reflected from the respective measurement strip MS. Figure 3 shews an illustration of a measurement strip in order to explain the automatic fixing of a respective reference position cf the vehicle, and Figure 4 shows an illustration of laser signals, which are reflected from the measurement strip, as a function of time for two different through-movement angles. In Figures 3 and 4, AL1, AL2 and ALI', AL2' denote scanning paths of the laser beams ST1 and ST2 on the measurement strip ST, y denotes an angle, t denotes the time, At denotes a time difference, 5LI, SL2 and SL1', SL2' denotes signal profiles of the reflected intensity for the laser beams ST1 and ST2, Ml, M2 and Ml' , M2' denote minima in the signal pro files of the reflected intensity for ST1 and ST 2, and tj denotes a reference t irre Or. the assumption that the f crklif t t ruck Fl moves under the measurement strep MS at right angles to the longitudinal direction of the latter (a = 0°), the scanning paths o: the laser beams STl and ST2 are tine paths denoted by ALI, AL2. The corresponding signal profiles of the reflected intensity for the laser beams ST1 and ST2 are SLI and SL2 in Figure 4 . As can be seen, in this case there is no chase shift and no time difference At be_>/een SLI and 3L2. On the assumption that the forkiift truck Fl does net pass under the measurement strip MS ac right ancles to the longitudinal direction of the latter (that is to say a is not 0°), the scanning paths of the laser beams ST1 and ST2 will be the paths ALI', AL2' . The corresponding signal profiles of the reflected intensity for the laser beams ST1 and ST2 are SLI' and SL2' in Figure 4. As can be seen, in this case, there is a phase shift or a time difference At between SLI' and SL2'. Figure 5 shows an illustration of a measurement strip in order to exolain the process of determining x, y and a. The x coordinate of the reference point is determined from the measured times t:, t?, C3, tj, t.~: and td= in the signal profiles SLI and SL2, as well as the strip geometry a, b, d, in accordance with the following equation: A typical store management operation will be described in the following text with referer.ee tc a simple example. The forklift trucks F1-F4 first of all register with the central- computer via their transmitting/receiving unit 30. The driver is then, requested to drive tc a first measurement strip or tc enter his current position as the first reference position directly at the terminal. The central computer then continues tc calculate the current position on the basis of the transmitted measurement data from the first central device 1C, and transmission of the calculated current position at the respective forkiift trucks FI-F4. Let us new assume that a job occurs which involves collecting an item at the delivery input El and storing it at a free store position in the store area element B7 at the dispatch output A2 . The forklift truck Fl is selected tc do this by central computer, since it is the closest to the delivery input El. The forklift truck Fl thus moves to the delivery input El and picks up the item on its forks, with this being detected by the corresponding strain gauge sensor. At the same time, the fact that the item has been picked up is signaled to the central computer via the transmitting/receiving unit, and is registered there. The forklift truck Fl then neves along the store route SI in the direction cf the dispatch output Al, with its position with respect tc the first reference point being detected all the time. "When it passes the point 01, the laser beams SI, 52 interact with the measurement strip MS located there, and a new reference point is defined by the central computer, in accordance with the method described above. After this time, the position is detected with reference to the new reference point. At the crossing with the store route S2, the forkiift truck Fl turns left and drives tc the store route 54, where it turns right to reach the point 04. On passing the point 04, the laser beams 31, S2 interact with the measurement strip y.S located there, and a new reference point is once again defined by the central computer in accordance with the method described above. From this time, the position is detected with reference to the new reference point. Finally, the forklife truck Fl reaches the storage point, which is immediately in front of the dispatch output A2. The item is stored at the intended point there, and this is signaled to the central computer. The latter saves the store operation, including the accurate storage point coordinates. Thus, in principle, any store operation can be saved and recorded accurately. Although the present invention has been described above en the basis of one preferred exemplary embodiment, it is not restricted tc this, but can be modified in a large number of ways. Even though, according to the above example, the position calculation was carried out ir. the central computer on the basis of the frar.sm.it ted sens or data, this calculation can also be carried out in the microcomputer in the vehicle. The invention is also not restricted to store vehicles, but can also be generalized tc any desired restricted areas. Furthermore, the fixing of the reference points can be carried out not only by means of toe described laser system, but by using any desired non-contacting position sensors which scan the reference marking with at least two signals, for example inductive transmitters, light barriers, etc. Furthermore, more than two signals can also be used for scanning purposes in this case. In addition, the reference marking is not restricted to the rectangular strip as described, which has two reflective areas and cne non-reflective area along the rectangle diagonals, under which the vehicle moves. In fact, a number cf such strips may be placed alongside one another, in order to form an overall strip which is composed of a number of segments, which each have two reflective areas and one non-reflective area along the rectangle diagonals. This is particularly advantageous when the reference marking exceeds a specific width since, in this case, the straight-line gradings of the non-reflective area falls along the rectangle diagonals, so that the resolution accuracy also decreases. In the above example of the reference marking in the form cf the rectangular strip which has two reflective areas and one non-reflective area along the rectangle diagonals, an analytical solution is advantageously possible for determining the coordinates of the reference position and cf the through-movement angle, by evaluating the t ime profile of the reflected intensity cf the signals. However, ether strip geometries are, of course, also feasible, with, for example, only a numerical solution being possible for determining the coordinates of the reference position and the through-movement angle by evaluating the time profiles of the reflected intensity cf the signals, or a considerably more complex analytical solution also being possible. ISOCOM Autorr.aticr.ssysteme, 81379 Munich Method and apparatus for detecting the POS it ion cf a vehicle in a predetermined area, in particular a storage facility, as well as a store management method and system WE CLAIM : 1. A method of detecting the position of a vehicle (F1-F4) in a predetermined area (100), comprising the following steps: detection of the magnitude and the angle of incremental motion vectors relating to the movement of the vehicle (F1-F4) by means of a first sensor device (10); detection of the current position of the vehicle (F1-F4) in the predetermined area (100) by vectorial summation of the detected incremental motion vectors with respect to the position vector to the current reference position; automatic fixing of a respective reference position of the vehicle (F1-F4) at predetermmed points (01-04) withm the predetermmed area (100) whenever the vehicle (F1-F4) passes a corresponding point (0I-04);and wherein the automatic fixing of a respective reference position of the vehicle (FI-F4) at predetermined points (01-04) is carried out by means of a second sensor device (LI, L2), which interacts in a non-contacting manner with a respective reference marking (MS) at the corresponding point (01-04) within the predetermined area (100); and the respective reference marking (MS) has reflective and non-reflective m'eas (Ri, R2; D) which simuhaneously scans the second sensor device (LI, L2) by means of at least two signals (STl, ST2), with the co-ordinates (x, y) of the reference position of the vehicle relative to a reference position of the reference marking (MS) and, optionally, the through-movement angle (a) being determined by evaluating the time profile of the reflected intensity of the signals (STl, ST2). 2. The method as claimed in claim 1, wherein the signal carriers (STl, ST2) are light beams, preferably la- ser beams, or magnetic induction lines of force. 3. The method as claimed in claims I or 2, wherein the respective reference marking (MS) has a rectangular strip, which has two reflective areas (Rl, R2) and one non- reflective area (D) along the rectangle diagonals, under which the vehicle (FI-F4) moves. 4. The method as claimed in claims 1, 2 or 3, wherein the flrst and/or second sensor device (10; LI, L2) is fitted to the vehicle (F1-F4). 5. The method as claimed in one of claims 1 to 4, wherem the automatic fixing of a respective reference position of the vehicle (F1-F4) is carried out frequently such that the statistical discrepancy between the detected current position and the actual position does not exceed a predetermined limit value. 6. An apparatus for detecting the position of a vehicle in a predetermined area, having: a first sensor device (10) for detecting the magnitude and the angle of incremental motion vectors relating to the movement of the vehicle (F1-F4); a fixing device (LI, L2; MS) for automatically fixing a respective reference position of the vehicle (F1-F4) at predetermined points (01-04) within the predetermined area (100) whenever the vehicle (FI-F4) passes a corresponding point (01-04); and a detection device (20) for detecting the current position of the vehicle (F1-F4) in the predetermined area (100) by vectorial addition of the detected incremental motion vectors with respect to the position vector of the current reference position; wherein the fixing device (LI, L2) has a second sensor device (LI, L2) which interacts in a non-contacting manner with a reference marking (MS) at the respective corresponding point (01-04) within the predetermined area (100);: the respective reference marking (MS) has reflective and non-reflective areas (Rl,R2;D);and the second sensor device (LI, L2) is designed such that it can scan the respective reference marking (MS) simultaneously by means of two signals (STl, ST2), in which case the coordinates (x, y) of the reference position of the vehicle relative to a reference position of the reference marking (MS) and, optionally, through-movement angle ( a) can be determined by evaluating the time profile of the reflected intensity of the signals (STl, ST2). 7. The apparatus as claimed in claim 6, wherein the signal carriers (STl, ST2) are light beams, preferably laser beams, or magnetic induction lines of force. 8. The apparatus as claimed in claim 6 or 7, wherein the respective reference marking (MS) has a rectangular 10 strip, which has two reflective areas (Rl, R2) and one non-reflective area (D) along the rectangle diagonals, under which the vehicle (Fl- F4) moves. 9. The apparatus as claimed in one of claims 6 to 8, wherein the first sensor device (10; LI, L2, 30) is fitted to the vehicle (F1-F4). 10. The apparatus as claimed in one of claims 6 to 9, wherein the fixing device (LI, L2) is designed such that the automatic fixing of a respective reference position of the vehicle (F1-F4) is carried out frequently such that the statistical discrepancy between the detected current position and the actual poshion is not greater than a predetermined limit value. 11. A store management method comprising: providmg a storage facility and a number of store vehicles for carrying out at least one of storage, relocation and removal and removal procedures for goods, the storage facility having a predetemined area; detecting the magnitude and the angle of increment motion vectors relating to the movement of the vehicle by means of a first sensor device; automatically fixing the vehicle at predetermined points within the predetermined area whenever the vehicle passes a corresponding point; detectmg the current position of the vehicle in the predetermined area by vectorial summation of the detected incremental motion vectors with respect to the position vector to the current reference position; and saving at least one of the following parameters for the at least one of storage, relocation and removal procedures; store position, time of storage, time of relocation, time of removal, type of goods, and storage duration; wherein the automatic fixing of a respective reference position, of the vehicle at predetermined points is carried out by means of a second sensor device, which interacts in a non-contacting manner with a respective reference marking at the corresponding point within the predetermined area; and wherein the respective reference marking has reflective and non-reflective areas which the second sensor device sunultaneously scans by means of at least two signals, with the coordinates of the reference position of the vehicle relative to a reference position of the reference marking and, optionally, the through-movement angle being determined by evaluating the time profile of the reflected intensity of the signals. 12. A store management system comprising: A storage facility and a number of store vehicles for carrying out at least one of storage, relocation, and removal procedures for goods, the storage facility having predetermined area; and a first sensor device for detecting the magnitude and the angle of incremental motion vectors relating to the movement of the vehicle; a fixing device for automatically fixing a respective reference position of tiie vehicle at predetermined points within the predetermmed area whenever the vehicle passes a corresponding point; a detection device for detecting the current position of the vehicle in the predetermined area by vectorial addition of the detected incremental motion vectors with respect to the position vector of the current reference position; and a memoiy device for saving at least one of the following parameters relating to the at least one of storage, relocation, and removal procedures: store position, time of storage, time of relocation, time of removal, type of goods, and storage duration; wherein the fixing device has a second sensor device which interacts in a non-contacting maimer with a reference marking at the respective corresponding point within the predetermined area; wherein the respective reference marking has reflective and non-reflective areas; and wherem the second sensor device is deigned such that it can scan the respective reference marking simultaneously by means, of two signals in which case the coordinates of the reference position of the vehicle relative to a reference position of the reference marking and, optionally, the through-movement angle; can be determined by evaluating the time profile of the reflected intensity of the signals.

Documents:

in-pct-2002-0366-che claims.pdf

in-pct-2002-0366-che correspondence-others.pdf

in-pct-2002-0366-che correspondence-po.pdf

in-pct-2002-0366-che description (complete).pdf

in-pct-2002-0366-che drawings.pdf

in-pct-2002-0366-che form-1.pdf

in-pct-2002-0366-che form-19.pdf

in-pct-2002-0366-che form-26.pdf

in-pct-2002-0366-che form-3.pdf

in-pct-2002-0366-che form-5.pdf

in-pct-2002-0366-che others.pdf

in-pct-2002-0366-che pct.pdf

in-pct-2002-0366-che petition.pdf