System zum Ermitteln eines Ortsbrustbilds

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[0001] The invention relates to a device for determining an image at least a portion of one of a tunnel boring machine processed working face of a stratum, a tunnel boring machine and a method for determining an image at least a portion of one of a tunnel boring machine processed working face of a stratum.

[0002] A A tunnel boring machine is a machine, which is used for the construction of tunnel. dismantling sign[...] clamping devices are components of a tunnel boring machine with a, facilities for the fitting of support and conducting development work might need, means for material evacuation , a supply unit (current, compressed air, ventilation, water), and transport devices for outbreak material , support means and development materials. A dismantling tools for releasing a Mountains provided with a tunnel boring machine is front drilling head.

[0003] The geological documentation of the working face is essential in tunnel construction. In pushed forward mechanically, as in the case of a tunnel boring machine, this is only to a very limited extent, because the drill head is mechanically in the path of the tunnel boring machine are possible and only extremely restricted so visual surveys, as follows.

[0004] Classical geologists or look. geo technician by small openings on the working face and generate thereof Photographs and/or sketches. The drill head is withdrawn a short distance Trace, so that it can photograph major portions of the working face, but from extremely unfavourable angles. With the retraction of the drill head is also a high time and labor.

[0005] It is a task of the present invention, in connection with a tunnel boring machine in a simple manner and to gain a working face more errorsturdily large-area image data.

[0006] This problem is solved by the independent claims with the features according to the objects. Further embodiments are shown in the dependent claims.

[0007] Under an embodiment of the present invention is a device for determining an image at least a portion of one of a tunnel boring machine processed working face (i.e. that boundary surface of a stratum, the lies in the advancing direction of a tunnel boring machine, and on which a room produced takes place or has taken place with the tunnel boring machine created Propulsion) of a stratum, wherein the arrangement includes a rotatable or rotation-enabled Drill head for plucking rock material to the working face the tunnel boring machine, an imaging device, the Image data has at least a portion of the working face on the drill head for receiving is mounted, and image processing means, the (in particular during rotation of the drill bit) by means of the processed picked-up image data and producing therefrom a plurality of portions of the working face of pick-up device coherent picture or generates reconstructed at least the area of the working face.

[0008] in accordance with another embodiment of the present invention is a tunnel boring machine for removing rock material a working face of a stratum provided, wherein the tunnel boring machine has an arrangement having the above-described features.

still another embodiment of the present invention is a method for Under determining an image at least a portion of one of a tunnel boring machine processed working face of a stratum provided, wherein in the method, a drill head rotates the working face is a tunnel boring machine for removing rock material, image data of a respective portion of the working face by means of a mounted on the drill head [...]"

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Image recording device be included (in particular during the drill head rotates, wherein the drill head preferably during the recording not is advanced, in other words the introduction of not used in the drilling operation is carried out), and the (in particular during rotation of the drill bit) by means of the camera captured image data of plurality of portions of the working face Processing, whereby an image Generating at least the area of the working face or reconstructed.

[0010] in accordance with an embodiment, an automated photographic and/or takes place at a a tunnel boring machine-Propulsion was basedworking face documentation. For example, complete images or The work will be carried out according to the invention. Circles are generated to the working face. This a camera is mounted at a well head or other imaging device, for example, placed in openings of the drill head, and it be image data (for example, a video or. Images in quick order) received, preferably rotates while the drill head. Afterwards, the individual (for example, video frames or photographs) are joined together by means of methods image data in particular digital Image processing into a complete image. Has proved to be very well the quality of images generated, so that they can meet the high quality for the geological Documentation. This it is possible, with a very low (for example, within about 10 minutes) time needed to generate image data, from which to subsequently a complete, undistorted working face picture can be derived. The entire working face can be completely or large or desired parts of the working face may very quickly and practicable The procedure is documented. For example, a camera can be placed manually in the drill head maintenance layers as image-recording device in. Alternatively is also a permanent or fixed in a drill head (for example, of cameras) implementation of the imager possible and very efficiently.

[0011] exemplary embodiments are further described in the additional to the arrangement, the tunnel boring machine and the method.

[0012] in accordance with one embodiment (and optionally their evaluation) can receive the image data maintenance layers or during short interruptions of the drilling operation are carried out in. Lange interruptions of the drilling operation, however is not to enter.

[0013] Pursuant different spatial portions of the working face of one embodiment of one or more further processes and evaluates can image data be included of the camera, at a certain angular position or in the case of a plurality of different angular positions of the drill head. This means that in a alternative the drill head rests during gathering up the image data and, for example, a plurality of imaging units at different positions of different portions of the working face of the drill head at rest Headpiece receive image data. Also the drill head can rotate during gathering up the image data, so that one and the same picture recording unit at different times during rotation and thus at different angular positions of the drill bit receives different local portions of the working face image data.

[0014] in accordance with one embodiment can the drill head at least one opening, in particular a through opening (working face-lateraltunnel drilling machine-lateral end and a end of the drill head between a), comprise. The image pickup means for receiving the through the passage opening can be provided on the boring head image data. By one or more openings at or in the drill bit to be used, one or more further processes and evaluates said image pickup means to secure or even permanently or temporarily receive in its interior, the camera can in the orifice or orifices protected from the harsh mechanical conditions in a hole being drilled tunnel be protected. At the same time integrating the imaging means into openings in the drill head leads thereto that the drill head is not inconsistent with the inclusion of image data of the working face mechanically.

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[0015] in accordance with an embodiment, the at least one aperture can be selected from a group, of a manhole, a receptacle for a cutting tool, and a specially configured opening for receiving the circular scraper slot a pick-up device. As manhole by the drill head is understood a start, only very rarely forced to spend in which people, for example to [...] maintenance purposes. Possible round, oval or rectangular cross-sections are 400 mm to 600 mm with a clear width of, for example, so that a man can through-rise without much difficulty on average built. A image pickup unit can be mounted in such a manhole (for example, removably) for receiving of the pick-up unit and serve, when the manhole is not otherwise needed. As excavation tools can be used with cutting edges mounted rotatable discs, which can erode upon rotation of the drill head even in rotation are offset from the working face and then rock. Such excavation tools can be mounted in holders on the drill head. In such a holder dismantling tool Instead of a can also be included a picture recording unit, temporarily or permanently. A [...]circular scraper slots arranged in the drill head for conveying away excavated rock contains a tunnel boring machine, using the rakers from the working face through which the dissolved drill spoil passes behind the drill head and then is transported away for example by means of conveyor belts. Even circular scraper slots can be used for at least partially housing the image pickup means such. To restrict the function of the drill head can be formed by the provision of the camera not at all, also specifically provided for that purpose in separate openings in the drill bit.

[0016] in accordance with one embodiment can be configured for receiving at least partially the at least one receiving opening the imaging device. If the camera is accommodated in whole or in part in the receiving opening, it can damage from undesirable influences the rough environment be protected in a borehole during drilling a tunnel boring machine.

[0017] Under an embodiment can be selected from a group the image pickup means, of at least one video camera for recording video data of the sections of the working face, and at least one of the sections of the working face for receiving Photos Photocamera. A continuous video recording with a video camera can be included during rotation of the drill head from portions of the working face. This a broad database is available for reconstructing the image of the working face. A plurality of individual images with a camera during rotation of the drill bit can be included from portions of the working face. The receiving several individual images allows the reduction of the amount of data to be transmitted.

[0018] a plurality of imaging units, produced in accordance with a embodiment can have the camera, each of which is mounted for receiving Image data of a respective portion of the working face. For example the individual picture recording units can/or photo cameras be transmitting video, may be mounted at different radii of the drill head can receive, so that during rotation of the drill head each an annular portion of the working face for example, the picture recording. The circle picturering pictures to a the working face is then in assembling the mounting positions of the individual picture recording units, produced in accordance with a possible embodiment, the knowledge of the imaging device be in place, the working face during a predetermined angular rotation of the drill head image data (in particular during one complete revolution of the drill head) receive and the image processing means for reconstructing the image at least the area of the working face provide these image data. After a rotation around 180° of the drill head can For example, about 360 ° (or to be transmitted to be terminated is desired more than 360 °, when a redundancy for further error reduction) the image pickup temporarily and a corresponding data set for the reconstruction of the area of interest to the working face Image data to the picture processing unit.

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[0019] in accordance with one embodiment can attached on the drill head further processes and evaluates a plurality of the camera, in particular video cameras and/or photo cameras , comprise, the for simultaneously picking up different image data from different portions of the working face are formed. If a plurality of imaging units are used, can even in the case of short distances between a front side of the drill head and the working face a in principle unlimited large area of the working face in the form of a picture are represented. The individual partial images in the manner prescribed by the individual sets the camera For this further processes and evaluates received portions of the working face into a complete image corresponding to the area of the working face of interest together.

[0020] in accordance with an embodiment, the plurality of imaging units can be provided on the boring head in such a way that the different portions of the working face at least partially overlap each other imaged by them. The a flawless composition of the individual images into a complete image overlap portions allow the image processing means. Also allows the compensation of differences in brightness between individual partial images from overlapping regions comprises providing, for example, can be caused by a different strong illumination of different portions of the working face. color artifacts such as discontinuous colour changes on the composite image fashion at a joint of two can be suppressed or at least avoided by image sections.

[0021] in accordance with one embodiment can be arranged the image processing means, as the area of the working face to reconstruct a circular ring or a circle. For example can already with a single picture recording unit, for example a single video camera or Photocamera, upon rotation of the drill head are represented visually imaged region of the working face as a continuous circular ring. Such a circular ring can be meaningful for the geological Documentation already sufficient to the working face. [...] /or video cameras Alternatively, a plurality of individual, preferably overlapping, annular rings receive, which then can be assembled into a complete circle from said image processing means.

[0022] the arrangement a light source mounted on the drill head, produced in accordance with a embodiment can or. Light source for illuminating the imaged portion of the working face from the imaging means have it in a borehole is dark. Since, can be advantageous to the working face of the sections to be picked up in sections illuminating, to obtain a meaningful picture of the working face. Alternatively, a camera with a flash are used. If the light source and the associated picture recording unit or. Image pickup means are coupled rigidly to each other, can be kept very small the lighting expenditure , because for rotating the drill bit with the imaging device or the light source. Image pickup unit always corotate and thereby automatically selectively illuminates the just received surface portion of the working face.

[0023] Under an embodiment can the arrangement comprises for receiving the imaging device, and in particular the light source, and for mounting on the drill head furnished have mounting bracket. Such a mounting bracket or a mechanical adapter between an arbitrarily shaped image pickup unit can graphically. Image pickup means already available or specially configured receiving space on the one hand and a are created in the drill head.

[0024] the arrangement can have a tilt sensor, produced in accordance with a embodiment, the for detecting a current inclination angle (in particular of the camera or one or more specified picture recording units thereof) is furnished and for example, to the mounting bracket or alternatively may be mounted directly on the imaging device or a respective picture recording unit. The inclination sensor can thus positioning the mounting bracket (and hence also of the thereof [...] -[...]"

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menen image pickup unit) or directly to the Image processing device of the camera itself detect and pass on. Such propensity information provides additional information concerning the way, as an image of a portion of the working face is to interpret or evaluate or to process.

[0025] the inclination sensor can be so coupled and the image processing device, in particular that the Image processing means for reconstructing the image, the inclination detected by the inclination sensor, taking into account the associated with the portions processed image data. This artifacts are avoided, the starting Image data by a false evaluation result, when the erroneous current orientation of the imaging device relative to the working face by a pick-up device.

[0026] Pursuantclampingfasten and/or the mounting bracket for any one embodiment may, for magnetically mounting on the drill head be arranged. This assembly methods a rapid mounting is /. Dismounting of the camera on or allows by the drilling head. At the same time a reliable attachment of the camera on the drill head even under these assembly methods allow the mechanical loads, such as those by the rotation of the drill head and the by the drilling head during the operation of the tunnel boring machine occur rock erosion. In an embodiment, wherein the imaging device also during the actual drilling operation, i.e. during the material removal of the rock, remains mounted on the drill head, such mechanical loads can act on the camera, but may be mounted by means of the mounting bracket on the drill head protected.

[0027] the processing at the tunnel boring machine or on a cryptographical embodiment can rework place , spatially is removed from the tunnel boring machine, are carried out. Under a variant can thus at the tunnel boring machine, in particular in the interior of the borehole, i.e. at the location of the tunnel bore, the post-processing are carried out. This has can draw the advantage, already on the ground that a geologist working face picture and the control of the tunnel boring machine based on the conclusions to be drawn from the working face may carry out the determined image. Pursuant rework place the other variant on a can, for example, in an office, the evaluation of the images will be carried out.

[0028] Pursuant can be carried out in such a way any one embodiment, the processing of the picture data that is a three-dimensional relief image at least the area of the working face as the image reconstructed. Accordingly the image recording device can be arranged, for reconstructing relief images receive sufficient image information. The picture evaluating device can be appropriately set up, derive from such image data the relief image. For the spatial information a geologist can then more extensive technical information are derived of a relief.

[0029] exemplary embodiments with reference to the present invention in what follows, the following Figures are described in detail.

[0030] Figure 1 shows a tunnel boring machine with an arrangement for determining an image of said one of the tunnel boring machine processed working face according to one exemplary embodiment of the invention.

[0031] Figure 2 shows a, to a working face adjacent Drilling head of a tunnel boring machine according to an exemplary embodiment of the invention.

[0032] Figure 3 shows a small portion of a working face is photographed by a manhole a drill bit therethrough.

[0033] Figure 4 shows a working face photo , the after retracting a boring head is received.

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[0034] Figure 5 shows a plan view of an arrangement according to an exemplary embodiment of the invention, a tunnel boring machine in a manhole in the cameras at the drill head, and are placed dismantling toolcircular scraper slot a instead of one.

[0035] Figure 6 shows an arrangement of four cameras for together approximately fully receive a working face according to one exemplary embodiment of the invention.

[0036] Figure 7 shows an arrangement of a camera, a light source and a magnet holder for mounting a tunnel boring machine according to one exemplary embodiment of the invention at a well head.

[0037] Figure 8 shows a mounting bracket for a camera, luminous sources and inclination sensors for an arrangement for generating an image a working face according to one exemplary embodiment of the invention.

[0038] Figure 9 shows images or. Video frames, and they are intertwined, and according to one exemplary embodiment of the invention using digital Image processing are assembled into a complete image.

[0039] Figure 10 shows a detail of a circular ring as Picture a range a working face, according to an exemplary embodiment has been composed of several individual video frames.

[0040] Equal or similar components in different Figures are provided with identical reference numbers.

[0041] Figure 1 shows a tunnel boring machine 120 180 with an arrangement for determining a range of a from the tunnel boring machine 180 machined working face 122 image of an 102 according to one exemplary embodiment of the invention of a stratum.

[0042] Figure 1 shows the tunnel boring machine 180 102 in a condition for terminating said Mountains, in the already a wellbore 102 182 has been introduced into the mountains. The drilling takes place in such a way that the well 182 according to Figure 1 to the right towards Expanding successively. Anders is expressed in Figure 1 moves along a 180 190 marked with reference marks the tunnel boring machine direction. The person skilled in the art is well known that the tunnel boring machine has a plurality of further components 180 on the shown components also, for reasons of clearness are not shown in Figure 1 the.

[0043] Figure 1 is a drill head to detect but with a plurality of (for example, 50 to 100) 150 100 dismantling tools. Exact expressed, the drill head 150 152 102 movable in rotation and translation with respect to the points a on Mountains Drill body, at whose dismantling toolsmountainlaterally end face 100 is mounted or the back face or the plurality of. This are distributed over the circular end surface of the drill body 152 of time, not to see what is in the cross-sectional view of Figure 1 (in Figure 5 the plan view see). Each of the excavation tools 100 can have mounted in a holder with a circumferentially rotatable [...] a sharp cutting edge. For a rotation of the drill body 100 with and carry the disks in the excavation tools 152 rotate with its sharp cutting edge on the working face 102 122 ab life, it is the material. It should be mentioned, however that according to other embodiments of the invention can be used instead of disks in other excavation tools 100, for example, peeling knife or chisel.

[0044] A drive motor 180 drives 157 159 the drill head via a schematically represented drive shaft the tunnel boring machine to 150, so that this rotates about an axis of the drive shaft 159 (see reference numeral 161) and also along the direction 190 102 under ablation thereof moved deeper into direction of the mountains.

[0045] In 120 is further described for determining the the arrangement by the tunnel boring machine 180 machined working face 122 closer image.

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[0046] 120 150 is rotatably mounted part of the assembly and the drill head The serves rock material on the working face 128 122. In receiving openings removal (in the shown embodiment, are constructed as passage openings) of the drill head are mounted a plurality of cameras as imaging units 150, 124 which together form a image pickup means. Each of the cameras during the rotation of the drill bit 150 takes, on the other hand it also leads mounted for rotating the cameras, 122 on an image corresponding to an annular portion of the end-face working face. The cameras themselves are held in a fixed position relative to the drill head in the process 150, i.e. do not need a separate drive. 360° during one complete rotation of the drill head by the cameras The 150 captured image data 126 image processing means are supplied (for example, a processor, in particular a microprocessor or a CPU, Central Processing Unit). The the image data of the different cameras of the camera 126 100 jointly processed image processing means, i.e., the individual images of the individual cameras or the captured ring pictures so together (part) that is constructed from the surface of the working face a common image 122 thereby. Here can be used methods of Image processing. The 155 122 is then supplied to a display device constructed image of the working face, for example a LCD displaying a [...] Desktop-computer,. A geologist Analyze 122 can then discover the characteristic of the working face, the working face by said current image 122 155 viewed on the display device.

[0047] In the embodiment described the image 180 is thus reconstructed at the location of the tunnel boring machine. Alternatively, it is, however, also possible, or to evaluate the images not fully automated assemble, but only later in an office.

[0048] In accordance with an exemplary embodiment of the invention can, as shown schematically in Figure 2, a plurality of cameras are implemented as image-recording device 150 124 integrated in the drill head. In the embodiment shown is also integrated and the reconstructed image data transmitted in the drill head 126 the image processing means 150 in Figure 2 not shown in the shown embodiment, wirelessly to a display device for displaying the image 155 122 122 to the working face, the working face and geotechnical Documentation. The geological pushed forward with a tunnel boring machine 180 in a reliable and safe operation of the tunnel boring machine is an essential basis for 180 for example, instead of once daily in maintenance layers. This will take place.

[0049] according to invention one arrays 120 are significantly more advantageous with respect to conventional approaches for determining geological data a working face 122, as is further described in more detail:

[0050] In conventional approaches of the view 150 of the front of the device 122 is a tunnel boring machine 180 only to a very limited extent due to the interfering drill head. This is represented in Figure 3 schematics. There is conventionally then only the possibility, by 150 (see Figure 3) or by manholes circular scraper slots 122 to see a small part of the working face of the drill head, wherein the possibility of never de facto, 122 to obtain a large-area or even complete picture of the working face. The view of the working face by geologists and 122 by manholes geo technician occurs, thus conventionally, dismantling toolscircular scraper slots or laterally from it is only possible 100. Here, small parts of the working face 122 to see, such as represented in Figure 3. In this Photo a circular area with a diameter of about 60 cm is visible, during the entire working face has a diameter of just under 10 m 122.

[0051] If the drill head is withdrawn a piece 150, so as to make a better Documentation to allow cover yields, although the opportunity, photographs, the part of the working face a larger, but only from extremely unfavourable angular positions. In Figure 4 is, for example, to see Photo Such a. Due to the steep angle it is difficult, to detect geological features 122 in the lower region of the working face. Also the retraction is 150 a great inconvenience of the drill head, in particular with an interruption of the drilling operation.

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[0052] Therefore, is conventionally with large uncertainties in a tunnel boring machine- pushed forwardworking face documentation the geological or beset with a great expense.

[0053] In order to improve this state of affairs is created a method according to the invention, the allows, a large part or even the entire working face 122 to photograph or to film and to subsequently to a all part image or. Photo process. One such method thus can make, the working face in a tunnel boring machine- pushed forward graphically represent 112. The in and/or on the rotary drill head with the 150 124 overcome difficulty is integrated image pickup means that the working face is almost entirely by the drill head 180 150 122 for operating personnel concealed the tunnel boring machine, conventionally can be inspected only by small openings, but by the according to the invention with respect to the signal flow 124 and 126 of the camera providing the the working face for assembling partial images 122 now easily downstream image processing means for constructing an image a portion of the working face 122 can be used.

[0054] Figure 5 shows a plan view of components of an assembly 120 according to one exemplary embodiment of the invention, wherein the cameras 124 150 a tunnel boring machine in a manhole at the drill head as image-recording device (description see

(a)), a ((b) designation see) circular scraper slotdismantling tool 100 (name (c) see) and instead of one are placed.

[0055] 120 according to Figure 5 a complete Photo With this arrangement can be drawn up the working face, the working face 122 122 or of circular rings. This [...] video camera (or more video cameras are placed [...]) a is in one or in several openings in the drill head as image-recording device 150 124, circular scraper opening for example, manhole, instead of specially designed for the imaging device 100 or on dismantling tools 124 created openings.

[0056] 150 is slowly rotated (see reference numeral 161) then the drill head, and it is incorporated or it be made at short intervals at the same time at the same time a video photographs, for example, to the drill head has rotated 150 is even completely. The number of cameras, the is needed, to draw back is to obtain a complete picture of the total working face 122 is retracted (or a region of interest of the working face 122), depending on the angle of the lens and thereof, whether and, if so, how far the drill head 150 (for example, completely on the working face 122 adjacent or a predetermined distance of, for example, 1.5m).

[0057] Figure 6 shows an arrangement of four cameras 124 for approximately complete cover as image-recording device 122 according to one exemplary embodiment of the invention a working face. The in Figure 6 shown the inclusion of four annular images 600 including less duplication allows camera assembly 602 602 may in particular be used. The areas of overlap, to assemble the individual images without artifacts.

[0058] Figure 7 shows an arrangement of a camera as image-recording device 124, a light source and a magnet holder 700 702 (here lED array formed in the form of a) at a well head 150 for placing a tunnel boring machine 180 according to one exemplary embodiment of the invention. The attachment of the imaging device can take place in various ways 124. A simple and user-friendly variant is the provision of the camera with the magnet holder 700 702 for jointly placing on said drill head including light source 150.

[0059] Figure 8 shows a mounting bracket 124 as image-recording device for a camera 702, 800 700 120 for generating a luminous sources for an arrangement and inclination sensors 122 according to one exemplary embodiment of the invention a working face image.

To[...] -[...] 124 to a precisely defined positioning of the camera "

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with a fully, 702 can be used functionally enlarged mounting brackets. Figure 8 shows such a mounting bracket 702, the in can be fixed in a manhole maintenance layers. Besides the camera 124 are shown as image-recording device 700 (not) as well as further sensors therein strong luminous sources, for example, the inclinometer/tilt sensors 800, placed, which enable an automated alignment of the later Photographs and/or video. Apart thereof it is possible, for example, the receiving portion to global drilling head anglemachine data as to synchronize the current. A preferred embodiment is, the camera 150 to integrate already from the outset in the drill head 124.

[0061] Figure 9 shows images or video frames 900, the overlap, and according to one exemplary embodiment of the invention using digital Image processing are assembled into a complete image.

[0062] After the Photographs and/or videos have been received, they are joined together by means of automated digital image processing to a total recording. Figure 9 shows schematically the set of overlapping images, which are composed to subsequently.

[0063] Figure 10 shows a cut-out 112 1000 of a circular ring as Picture a range a working face, according to an exemplary embodiment has been composed of several individual video frames.

[0064] The assembling into a complete image can take place in a variety of ways (for example texture-oriented[...]). In here has been used in the frequency domain a Cross-correlation method (correlation of the Fourier-transformed images). Figure 10 shows the cutout 1000 of a circular ring, which is the result of a number of composite of individual video frames. With a clearly marked small-scale one geological features. With further processing steps, may also be a spatial relief 122 generates the working face.

[0065] It is also noted that "comprising" does not exclude other elements or steps and "a" or "a" excludes no plurality. It should also be noted that features or steps, which have been described with reference to one of the above embodiments can be used, also in combination with other features or steps of other above-described embodiments. Reference symbols in the claims are to be considered not as a constraint.