CA2403124C - Arrangement for determining position of unmanned mining vehicles - Google Patents

Arrangement for determining position of unmanned mining vehicles Download PDF

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Publication number
CA2403124C
CA2403124C CA002403124A CA2403124A CA2403124C CA 2403124 C CA2403124 C CA 2403124C CA 002403124 A CA002403124 A CA 002403124A CA 2403124 A CA2403124 A CA 2403124A CA 2403124 C CA2403124 C CA 2403124C
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CA
Canada
Prior art keywords
control
vehicle
mine
measuring
mining
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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.)
Expired - Fee Related
Application number
CA002403124A
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French (fr)
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CA2403124A1 (en
Inventor
Leo Hakkinen
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Sandvik Mining and Construction Oy
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Sandvik Mining and Construction Oy
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Publication date
Application filed by Sandvik Mining and Construction Oy filed Critical Sandvik Mining and Construction Oy
Publication of CA2403124A1 publication Critical patent/CA2403124A1/en
Application granted granted Critical
Publication of CA2403124C publication Critical patent/CA2403124C/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0038Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21CMINING OR QUARRYING
    • E21C35/00Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/24Remote control specially adapted for machines for slitting or completely freeing the mineral
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21FSAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00Methods or devices for use in mines or tunnels, not covered elsewhere
    • E21F17/18Special adaptations of signalling or alarm devices
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0234Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser

Abstract

A method of determining the position of unmanned mining vehicles. According to the method, control marks are provided in the mine, for positioning mining vehicles in pro-duction use by means of a marking device; such as a paint sprayer (14), provided in a specific measuring vehi-cle (3).
The invention also relates to a measuring vehicle that is unmanned and comprises measuring means for measur-ing a mine and also a marking device for providing a mine gallery with control marks.

Description

~

ARRANGEMENT FOR DETERMINING POSITION OF UNMANNED MINING
VEHICLES

BACKGROUND OF THE INVENTION
The invention relates to a method of determining the position of unmanned mining vehicles, according to which method excavated mine galler-ies are measured and control marks are provided In the mine galleraes, the marks being used in controlling a mining vehicle.
The invention also relates to a measuring vehicle comprising a mo-bile base, control devices for driving it unmanned in a mine from a control room arranged outside a mine section to be operated, a data communication unit for transmitting control and measurement information between the control room and the vehicle, and at least one measuring device by which a mine gal-iery is measured.
Mines are planned such that ore in the rock can be utilized as effi-ciently as possible and that the mining is eff"icierrt_ Thus, a mining plan and map of a mine are prepared, according to which mine galleries are made.
Among others, the number, length, direction, inclination, ,pcgfiie.,~. of the mine galleries are determined in advance_ The actual minin"Of,,s per-formed in hard rock, for example such that a so-called fan is drilled in the rock, the fan having a required number of holes according to the driiling plan, the holes being then charged with an explosive. A tunnel, for its part, is done in so-called rounds. The purpose is to separate a part of a desired direction and depth from the rock by exploding, and a further aim is to form blocks of a suit-able size, which blocks can be handled, for example, by a loading vehicle to be driven to the gallery. To keep the direction and dimensions of the mine gal-leries as planned, control measurements have to be carried out at certain in-tervals in the mine galleries. Conventionally measurements in a mine have been carried out manually. Measuring persons thereby go and determine the right direction of the tunnel by measuring, and simUarfy in the ore mining, they determine the location of the next fan to be drilled by using distance meas-urement based on laser, for instance. Manual measurement is, however, slow and the working in a mine may also be dangerous. After the performed rneas-urements, positioning marks are marked, usually by a paint, on the walls of the mine gallery. The rock drilling apparatus is thus positioned at a mark in the manner disclosed in the publication US 4,586,571, for instance. Light sources, such as lasers, pointing to the sides of the rook drilling apparatus are thus fix-edly arranged at the apparatus, whereby the rock drilling apparatus is placed at the fan to be drilled, such that the light beams of the light sources are directed at the marks on the walls of the mine gallery. Alternatively, the positioning is made as in the AU publication 700 301. The purpose is to make sure that the mining of the ore continues according to the mining plan.
Furthermore, arrangements are known, which utilize a so-called tunnel laser, i.e. a laser fixedly arranged in the gallery, and a prism/sight arranged in the mining vehicle, or a laser arranged in the mining vehicle and reference points, such as reflectors, correspondingly mounted fixedly at predetermined places in the mine gallery. These solutions, however, always require that a fixed infrastructure is built into the mine. Further, said systems are subject to various errors, wherefore their reliability in demanding mine conditions is questionable.
Already in the near future, more and more unmanned production is taken into use in mines. This refers to so-called teleoperated rock drilling apparatuses, loading vehicles and other mining vehicles, which can be controlled from an external, for example overground, control room by means of video cameras, for instance. Furthermore, a so-called inertial navigation device known per se can be utilized in driving mining vehicles, the operation of which device being based on the gravitational fields of the earth. Such an inertial navigator is otherwise a useful and exact device, but its disadvantage is a high price.

BRIEF DESCRIPTION OF THE INVENTION
It is an object of the present invention to provide a new kind of solution for determining the position of unmanned mining vehicles in a mine gallery.
The method of the invention is characterized by measuring the mine by means of an unmanned measuring vehicle and by marking the control marks by means of a marking device in the measuring vehicle.
Further, the measuring vehicle of the invention is characterized in that the measuring vehicle comprises a marking device for marking control marks onto the mine gallery in order to control other mining vehicles and determine the position thereof.
Accordingly, there is provided a method of determining a position of unmanned mining vehicle, the method comprising: measuring excavated mine galleries by means of an unmanned measuring vehicle, marking control marks in the mine galleries by means of a marking device in the measuring vehicle, and using the control marks in controlling the mining vehicle.
There is also provided a measuring vehicle comprising: a mobile base, control devices for driving the measuring vehicle unmanned in a mine from a control room arranged outside a mine section to be operated, a data communication unit for transmitting control and measurement information between the control room and the measuring vehicle, at least one measuring device by which a mine gallery is measured, and at least one marking device for marking control marks onto the mine gallery in order to control other mining vehicles and determine a position thereof.
The invention provides the advantage that no fixed infrastructure has to be built into the mine itself to control unmanned vehicles. Thus the investment costs of the mine can be lower. Further, mining vehicles to be used in the production need not necessarily be provided with measuring and positioning means, such as with inertial navigation devices and the like, but the sensitive and expensive measuring devices are arranged in a separate measuring vehicle. The invention also makes the mining faster, as the operation in an unmanned mine need not be interrupted due to the mounting of the marks, because the marking is carried out safely by means of an unmanned teleoperated measuring device. It is relatively simple to provide the measuring vehicle with the marking equipment of the invention, such as paint sprayers, and it does not cause any significant additional costs. By using the marking equipment, also location information can simultaneously be marked in the mine gallery, the information being utilized in controlling the mining vehicle.
An independently controllable mining vehicle has a reading device for reading the location information, in which case the vehicle can be controlled and positioned automatically.

3a BRIEF DESCRIPTION OF THE DRAWINGS
The invention will be described in greater detail in the attached drawings, in which Figure 1 schematically shows a top view of a part of a mine, and Figure 2 perspectively shows a mine gallery, Figure 3 schematically shows a top view of a rock drilling apparatus positioned in a mine gallery, Figure 4 schematically shows a side view of a measuring vehicle according to the invention in a mine gallery, Figure 5 schematically shows a side view of a loading vehicle, and Figures 6 and 7 schematically show some further embodiments.
DETAILED DESCRIPTION OF THE INVENTION
A part of a mine shown in Figure 1 comprises mine galleries 1 mined according to a pre-made mining plan, and a service gallery 2. Mine gai-leries and parts of them, which are in accordance with the mining plan and are not yet mined, are marked with a broken line 1' in the figure. The mine as such is fully known by a person skilled in the art, and therefore it is unnecessary to handle It in greater detail herein. An unmanned mine comprises a control room 1 a positioned in favourable conditions above the ground or elsewhere outside the actual operating place., from where unmanned mining vehicles in the mine are controiled. Thus, by using wireless data transmission there is a connection between the control room and the mining vehicle. Video pictures and meas-urement infonnation, for instance, are transmitted from the mining vehicles to the control room= by means of various measuring means arranged in the min-ing vehicle, and, correspondingly, control information is transmitted from the control room to the mining vehicles. As an example, the figure shows a meas--uring vehicle 3, a rock drilling apparatus 4 and a loading vehicle 5.
Thus, a specific teleoperated measuring irehicle 3 provided with the required measuring means is used in an unmanned mine. The mine or the de-sired parts of the mine are measured by means of the measuring vehicle, whereupon a digital map of the realized mine can be formed by means of computers in the control room and the map oan be compared with the mining plan of the mine. The real state of the mine can thus be updated and potential deviations can be noticed in time. The measuring vehicie comprises, for in-stance, an inertial measuring device and ultrasonic scanners, which transmit information on the basis of which a three-dimensional digital map of the mine can be created. The measuring vehicle is shown in more detail later in Figure 4. According to the idea of the invention, the measuring vehicle is provided with a marking device for making control marks in the mine galleries, on the walls and/or roof of the mine gallery, for other mining vehicles. This is illus-trated in Figure 2 where the tunnel comprises positioning marks 6a to 6c. In this case, the marks are circles painted on the surface of the rock. The figure 3D also shows drill holes 7 to be charged.
Figure 3 shows a top view of an unmanned remote-controlled rock drilling apparatus 4, and light sources 8a and 8b, such as lasers, pointing to the side perpendicularly to the central axis of the rock drilling apparatus are fixedly arranged onto the base of the apparatus, on its both sides. The rock drilling apparatus may also have light sources 8c pointing to the roof =of the mine gallery and/or to the back wa'li of the mine gallery, for determining the in-~

clination angle of the rack drilling apparatus and further for determining the transverse displacement of the apparatus in the mine gallery. The operator drives the rock drilling apparatus in a remote-controlled manner into a mine gallery to be operated and utilizes thereby pictures transmitted by a video camera 9a arranged in the mining vehicle. Using the video cameras 9a to 90 directed forwards and to the sides, the operator sees the light beams transmit-ted by the light sources Ba to 6c on the side and end wall of the gallery, and on the basis of this Information, the operator drives the rock drilling apparatus such that the light beams hit the posltioning marks_ The rock drilling apparatus may alternatively have other kinds of sighting means, by which its position in respect of the positioning marks can be observed. AU publication 700 301, for instance, discloses a rock drilling apparatus, in which positioning lights men-tioned eariier are repi.aced by a video camera or a corresponding optical sys-tem. In order to position the rock drilling apparatus exactly, it is sufficient that the position of the vehicle is determined in respect of three positioning marks.
The absofute inclination angle of the mining vehicle in respect of its longitudi-nai and transversal axes can be determined easily by means of, electrically readable levels or similar levelling instruments. The mining vehicle is driven to the right vertical posifion by means of hydraulic supports, for example_ Figure 3 also shows a second set of light sources Ba' and Bb' and a second set of cameras 9b' and 9c' in the rear part of the rock drilling appara-tus, wheceby the same positioning marks can be utilized in the drilling of more than one rounds. Thus the interval between the measurements carried out by the measuring vehicle in the mine gallery can be made longer.
Ffgure 4 shows a measuring vehicle comprising a base that can be moved independently, control means arranged on the base, and also means for transmitting data between the measuring vehicle and a controi room- The measuring vehicle may further comprPse at least one tumably arranged video camera 10 whose pictures are transmitted to the control room. The vehicle is driven in the mine mainly on the basis of the picfiureS from the video camera.
The mine can be measured by means of an inertial measuring device 11 ar-ranged in the vehicle, and at least one scanner 12. The inertial measuring de-vice produces continuous location information on the position of the measuring vehicle in the mine. The shape of the mine gallery can be measured by means of ultrasonic scanners or similar scanners. The measurement results are transmitted by means of a data communication unit 13 to the control room of the system, where the results can be processed by a computer. By using the measuring vehicle, measurements can be carried out whenever required. After the blocks have been exploded and transported away from the mine gallery by a loading vehicle, the measuring vehicle is usually driven to this gallery and the new section of the formed gallery is measured. In this way, the control system of the mine is updated.
A control mark 6 shown in Figure 4 comprises a positioning mark 6', at which an aiming mark arranged in connection with the rock drilling appara-tus to be. positioned, or a light beam is directed. At its simplest, the positioning mark is a cross painted on the surface of the rock. Alternatively, the mark can be a circle, as shown, for example, in Figures 2 and 5. When the light beam hits inside the surface defined by the circle, the mining vehicle is posi#ioned accurately enough to the right position. As shown by Figures 4 and 5, in addi-tion to the positioning mark, the control mark can also comprise other informa-tion useful in controlling mining vehicles. Thus, there can be an identification, such as consecutive numbers painted on the rock surface, in connection with it, whereby the operator in the control room of the system clearly sees from the video picture, which mark it is in which case. Furthermore, location information fi", such as altitude or coordinates, can be marked in connection with the mark. The identification and location information 'can also be marked as a code, which is read by means of a reader in the mining vehicle. A bar code according to Figure 5, for instance, is suitable for this purpose, because it can be machine-read by means of an optical reader of the mining vehicle, such as a scanner or a raster camera. The positioning marks can be painted by means of sprays 14 arranged in the measuring vehicle. Although the painting of posi-tioning marks is a means both simple and cheap, the marking can also be ar-ranged in other ways, the shooting of coloured bullets and positioning means based on transmitters, for instance, being mentioned herein. In the,last men-tioned case, a suitable receiver is the reader.
Figure 5 shows a loading vehicle 5 by which the blocks are trans-ported or loaded in order to be transported away from the mine gallery. Such a vehicle also comprises a video camera 10 which transmits pictures from the mine to the control room. The loading vehicle also comprises a reader 12 by which the shapes of ;the mine gallery I and block heap 15 to be loaded are read. Marks 6 made by the measuring vehicle can be utilized for determining the position of the loading vehicie. On the basis of the picture conveyed by the video camera, the operator sees the positioning marks 6' and the identiflcation and/or location Information 6" in connecticm with them on the gallery walls.
The positioning marks can also be automatically read by means of a reader, e.g_ a laser scanner, of the mining vehicle. whereupon the vehicle can also be controlled entirely automatically by means of location information in the marks. The reading of the marks can also be carried out by a raster camera, or a video camera and an image processing program cannected to It.
The infarmation read from the marks is converted into electrical signals, which are supplied to a control unit 19 of the mining vehicle to be used as co.ntrol pa-rameters.
Figures 6 and 7 show a further embodiment in which the control marks comprise mark sequences 16 painted by the measuring vehicle onto the wall surfaces and/or roof of the mine gallery. The mining vehicle can be made to follow such a mark sequence either from the control room by means of a video camera, or the mining vehicle reads the mark sequence independ-ently and follows it. Different driving routes=can be marked in the mine, for in-stance, by using a continuous/discontinuous mark sequence, by combining dif-ferent mark sequences as In Figure 7, by using different colours and reflecting materials in the marking etc. A positioning mark 17, such as a transverse lir~e can be marked into the mark sequence 16. There can also be identifica-tionRocation information 18 in connection with the mark sequence.
The drawings and the related description are only intended for illus-trating the idea of the invention. In its details, the invention may vary within the scope of the claims. Thus, instead of fixed means, the mining vehicle may comprise a turnable light source and a camera, which both have their prede-termined.tuming positions in respect of the frame of the mining vehicle. They can thus be tumed accurately to a right posltion to both sides of the vehicle, directly forwards and, if required, perpendicularly upwards to the roof. Conse-quently, compared with the snlution shown in Figure 3, It is sufficient to have one light source and one camera in one mining vehicle. In the corresponding manner, paint sprayers or similar marking devices can be moved and con-trolled in a variety of ways. Furthermore, when directing the drilling, the control system can comprise means which take into account potentfal deviations of the drilling base from the accurate position defined by the posiaoning marks and determine the compensated drilling directions.

Claims (10)

CLAIMS:
1. A method of determining a position of unmanned mining vehicle, the method comprising:
measuring excavated mine galleries by means of an unmanned measuring vehicle, marking control marks in the mine galleries by means of a marking device in the measuring vehicle, and using the control marks in controlling the mining vehicle.
2. The method as claimed in claim 1, comprising:
painting the control marks on walls/roof of the mine galleries by means of paint sprayers in the measuring vehicle.
3. The method as claimed in claim 1, comprising:
using a positioning mark as the control mark.
4. The method as claimed in claim 1, comprising:
using readable location/identification information as the control mark.
5. The method as claimed in claim 4, comprising:
reading the location/identification information in connection with the control mark by means of a reading device in the mining vehicle and transmitting it to a control system of the mining vehicle.
6. The method as claimed in claim 1, comprising:
controlling the mining vehicle from a control room outside a mine section to be operated by using wireless data transmission between said control room and the mining vehicle, emitting a light beam at least to both sides of the vehicle, monitoring a position of the light beams in respect of control marks by means of at least one video camera in the mining vehicle, transmitting a picture of one of the mine galleries to the control room in order to control the mining vehicle, and driving on a basis of control information transmitted by the at least one video camera, a rock drilling apparatus to a position where the light beams are positioned in a predetermined manner in respect of the control marks made by the measuring vehicle onto the mine gallery.
7. A measuring vehicle comprising:
a mobile base, control devices for driving the measuring vehicle unmanned in a mine from a control room arranged outside a mine section to be operated, a data communication unit for transmitting control and measurement information between the control room and the measuring vehicle, at least one measuring device by which a mine gallery is measured, and at least one marking device for marking control marks onto the mine gallery in order to control other mining vehicles and determine a position thereof.
8. The measuring vehicle as claimed in claim 7, wherein the measuring vehicle is provided with at least one paint sprayer for painting the control marks onto the mine gallery.
9. The measuring vehicle as claimed in claim 7, wherein the measuring vehicle comprises means for marking location/identification information in connection with the control marks.
10. The measuring vehicle as claimed in claim 7, wherein the measuring vehicle comprises means for marking a bar code in connection with one of the control marks.
CA002403124A 2000-03-17 2001-03-16 Arrangement for determining position of unmanned mining vehicles Expired - Fee Related CA2403124C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FI20000628 2000-03-17
FI20000628A FI110806B (en) 2000-03-17 2000-03-17 Arrangement for locating unmanned mining vehicles
PCT/FI2001/000264 WO2001069041A1 (en) 2000-03-17 2001-03-16 Arrangement for determining position of unmanned mining vehicles

Publications (2)

Publication Number Publication Date
CA2403124A1 CA2403124A1 (en) 2001-09-20
CA2403124C true CA2403124C (en) 2009-01-20

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US (1) US6616244B2 (en)
EP (1) EP1266124B1 (en)
JP (1) JP2003527514A (en)
AT (1) ATE327412T1 (en)
AU (2) AU4659901A (en)
CA (1) CA2403124C (en)
DE (1) DE60119908D1 (en)
FI (1) FI110806B (en)
WO (1) WO2001069041A1 (en)
ZA (1) ZA200207057B (en)

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