Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
  • G01S13/50—Systems of measurement based on relative movement of target
  • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
  • G01S13/56—Discriminating between fixed and moving objects or between objects moving at different speeds for presence detection
• • A—HUMAN NECESSITIES
  • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
  • A01D—HARVESTING; MOWING
  • A01D34/00—Mowers; Mowing apparatus of harvesters
  • A01D34/006—Control or measuring arrangements
  • A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
  • G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
  • G01S13/88—Radar or analogous systems specially adapted for specific applications
  • G01S13/881—Radar or analogous systems specially adapted for specific applications for robotics
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
  • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
  • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
  • G01S15/06—Systems determining the position data of a target
  • G01S15/08—Systems for measuring distance only
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D1/02—Control of position or course in two dimensions
  • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
  • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
  • G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D1/02—Control of position or course in two dimensions
  • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
  • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
  • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D1/20—Control system inputs
  • G05D1/24—Arrangements for determining position or orientation
  • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
  • G05D1/248—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons generated by satellites, e.g. GPS
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
  • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
  • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
• • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
  • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
  • Y10S901/00—Robots
  • Y10S901/01—Mobile robot

Definitions

• TECHNICAL FIELD This application relates to robotic work tools and in particular to a system and a method for providing an improved navigation for a robotic work tool, such as a lawnmower.
• An electric control signal may be transmitted through the boundary wire thereby generating an (electro-) magnetic field emanating from the boundary wire.
• the robotic work tool is typically arranged with one or more (electro-) magnetic sensors adapted to sense the control signal.
• the work areas, such as gardens may comprise passages that are narrow compared to the size of the robotic lawnmower, which introduces a risk of the robotic work tool getting stuck in the passage or at least not being able to navigate properly and therefor unable to properly or sufficiently operate in the passage in a manner that services the whole area of the passage properly.
• a robotic work tool configured to operate in a work area
• the robotic work tool comprising a controller configured to cause the robotic work tool to follow a first side of the work area at a distance for the first side; determine that an end has been reached and in response thereto cause the robotic work tool to make a turn and follow the first side of the work area at a next distance; determine that a middle has been reached and in response thereto cause the robotic work tool to proceed to a second side and follow the second side of the work area at a first distance for the second side; determine that an end has been reached and in response thereto cause the robotic work tool to make a turn and follow the second side of the work area at a next distance.
• controller is further configured to cause the robotic work tool to proceed to second side after it is determined that an end is reached.
• the robotic work tool comprises a first magnetic sensor and a magnetic sensor second, wherein the controller is further configured to determine that the middle is reached based on comparing a signal strength received by the first magnetic sensor and a signal strength received by the second magnetic sensor.
• controller is further configured to repeat following the first side and/or the second side at a next distance until it is determined that the middle is reached.
• controller is further configured to perform an additional lap as the middle is reached from the first side.
• controller is further configured to perform an additional lap as the middle is reached from the second side.
• controller is further configured to determine whether to perform the additional lap or not based on a shape of the first side and/or a shape of the second side.
• the robotic work tool comprises a satellite navigation sensor, wherein the controller is further configured to determine that the end is reached based on the satellite navigation sensor.
• the robotic work tool comprises a deduced reckoning navigation sensor, wherein the controller is further configured to determine that the end is reached based on the deduced reckoning navigation sensor. In one embodiment the first distances are smaller than the next distances.
• the first distance is larger than a zone where a signal strength is reduced due to a polarity change.
• next distance is increased by an amount smaller than or equal to the width of a work tool comprised in the robotic working tool.
• Figure 1 A shows an example of a robotic lawnmower according to some embodiments of the teachings herein;
• Figure IB shows a schematic view of the components of an example of a robotic work tool being a robotic lawnmower according to an example embodiment of the teachings herein;
• Figure 3 shows a schematic view of a subsection of a work area where a robotic work tool is configured to operate according to an example embodiment of the teachings herein;
• Figure 4 shows a corresponding flowchart for a method according to an example embodiment of the teachings herein;
• Figure 5A and figure 5B shows a schematic view of an alternative subsection of a work area where a robotic work tool is configured to operate according to an example embodiment of the teachings herein;
• Figure IB shows a schematic overview of the robotic work tool 100, also exemplified here by a robotic lawnmower 100.
• the robotic lawnmower 100 is of a mono-chassis type, having a main body part 140.
• the main body part 140 substantially houses all components of the robotic lawnmower 100.
• the robotic lawnmower 100 has a plurality of wheels 130.
• the robotic lawnmower 100 has four wheels 130, two front wheels and two rear wheels. At least some of the wheels 130 are drivably connected to at least one electric motor 150. It should be noted that even if the description herein is focused on electric motors, combustion engines may alternatively be used, possibly in combination with an electric motor.
• each of the wheels 130 is connected to a respective electric motor. This allows for driving the wheels 130 independently of one another which, for example, enables steep turning and rotating around a geometrical center for the robotic lawnmower 100. It should be noted though that not all wheels need be connected to each a motor, but the robotic lawnmower 100 may be arranged to be navigated in different manners, for example by sharing one or several motors 150. In an embodiment where motors are shared, a gearing system may be used for providing the power to the respective wheels and for rotating the wheels in different directions. In some embodiments, one or several wheels may be uncontrolled and thus simply react to the movement of the robotic lawnmower 100.
• the robotic lawnmower 100 also comprises a grass cutting unit 160, such as a rotating blade 160 driven by a cutter motor 165.
• the grass cutting device being an example of a work tool 160 for a robotic work tool 100.
• the robotic lawnmower 100 also has (at least) one battery 155 for providing power to the motor(s) 150 and/or the cutter motor 165.
• the robotic lawnmower 100 also comprises a controller 110 and a computer readable storage medium or memory 120.
• the controller 110 may be implemented using instructions that enable hardware functionality, for example, by using executable computer program instructions in a general-purpose or special-purpose processor that may be stored on the memory 120 to be executed by such a processor.
• the controller 110 is configured to read instructions from the memory 120 and execute these instructions to control the operation of the robotic lawnmower 100 including, but not being limited to, the propulsion of the robotic lawnmower.
• the controller 110 may be implemented using any suitable, available processor or Programmable Logic Circuit (PLC).
• PLC Programmable Logic Circuit
• the memory 120 may be implemented using any commonly known technology for computer-readable memories such as ROM, RAM, SRAM, DRAM, FLASH, DDR, SDRAM or some other memory technology.
• the robotic lawnmower 100 may further be arranged with a wireless com munication interface 115 for communicating with other devices, such as a server, a personal computer or smartphone, the charging station, and/or other robotic work tools.
• wireless communication devices such as Bluetooth®, WiFi®
• GSM Global System Mobile
• LTE Long Term Evolution
• the robotic lawnmower 100 is further configured to have at least one magnetic field sensor 170 arranged to detect the magnetic field (not shown) and for detecting the boundary wire and/or for receiving (and possibly also sending) information to/from a signal generator (will be discussed with reference to figure 2).
• the sensors 170 may be connected to the controller 110, possibly via filters and an amplifier, and the controller 110 may be configured to process and evaluate any signals received from the sensors 170.
• the sensor signals are caused by the magnetic field being generated by the control signal being transmitted through the boundary wire. This enables the controller 110 to determine whether the robotic lawnmower 100 is close to or crossing the boundary wire, or inside or outside an area enclosed by the boundary wire.
• the robotic lawnmower 100 may further comprise at least one navigation sensor, such as a beacon navigation sensor and/or a satellite navigation sensor 180.
• the beacon navigation sensor may be a Radio Frequency receiver, such as an Ultra Wide Band (UWB) receiver or sensor, configured to receive signals from a Radio Frequency beacon, such as a UWB beacon.
• the beacon navigation sensor may be an optical receiver configured to receive signals from an optical beacon.
• the satellite navigation sensor may be a GPS (Global Positioning System) device or other Global Navigation Satellite System (GNSS) device.
• GPS Global Positioning System
• GNSS Global Navigation Satellite System
• the robotic lawnmower 100 may further comprise at least one deduced reckoning navigation sensor 190, such as an accelerometer and/or an odometer to mention a few examples. Utilizing the deduced reckoning navigation sensor 190, the robotic work tool 100 is able to navigate at some accuracy through complicated mowing patterns even when no satellite reception is reliably received.
• deduced reckoning navigation sensor 190 such as an accelerometer and/or an odometer to mention a few examples.
• Figure 1C shows a schematic view of a work tool of an example of a robotic work tool being a robotic lawnmower according to an example embodiment of the teachings herein.
• Fig. 1C schematically illustrates a cutting unit 160 according to some embodiments of the cutting assembly 1 according to the present disclosure.
• the cutting unit 160 comprises a cutting disc 161 and a cutting member 162 arranged at a periphery of the cutting disc 161.
• the cutting unit 160 in Fig. 16 is illustrated as comprising only one cutting member 162.
• the cutting unit 160 may comprise more than one cutting member 162, such as two, three, four, five, or six cutting members 162.
• the kinetic energy of each cutting member 162 of the cutting unit 160 as described herein may be determined by means of the following formula:
• the reckonable length L of the cutting member 162 may be the length L between the pivot axis 166 of the cutting member 162 and the radially outer portion 163 of a cutting member 162; v is the maximum attainable velocity of the point z which is halfway along the reckonable length L of the cutting member 162, in metres per second.
• v 0,1047n[r-L/2] where n is the maximum rotational speed, in revolutions per minute; r is the distance from the rotational axis Ax of the cutting unit 160 to the radially outer portion 163 of a cutting member 162, in metres;
• the pivot axis 166 of a cutting member 162 coincides with a centre line of a hole 164 configured for attachment of the cutting member 162.
• the distance r from the rotational axis Ax of the cutting unit 160 to the radially outer portion 163 of a cutting member 162 is within the range of 160 cm to 20 cm, or is within the range of 6 cm to 12 cm, or is approximately 8.5 cm.
• the reckonable length L of the cutting member 162 is within the range of 1 cm to 9 cm, or is within the range of 1.7 cm to 6 cm, or is approximately 3.4 cm.
• the mass m, of reckonable length L of the cutting member 162 is within the range of 1 to 25 grams, or is within the range of 1.7 to 6.5 grams, or is approximately 3.4 grams.
• the thickness of the cutting member 162, i.e. the thickness of the cutting member 162 measured in a direction perpendicular to the rotational plane of the cutting member 162, is within the range of 0.2 mm to 3.5 mm, or is within the range of 0.32 mm to 1.2 mm, or is approximately 0.63 mm.
• the height h of the cutting member 162 of the cutting unit 160 is within the range of 0.7 cm to 6 cm, or is within the range of 1 cm to 2.9 cm, or is approximately 1.9 cm.
• the diameter of the cutting disc 161 of the cutting unit 160 is within the range of 5 cm to 39 cm, or is within the range of 8 cm to 20 cm, or is approximately 14.3 cm.
• the maximum attainable velocity v of the point z which is half way along the reckonable length L of the cutting member 162 is within the range of 10 to 80 metres per second, or is within the range of 15 to 50 metres per second, or is approximately 34 metres per second.
• the maximum rotational speed of the cutting unit 160 is within the range of 1 000 to 8 500 revolutions per minute, or is within the range of 2400 to 7200 revolutions per minute, or is approximately 4 800 revolutions per minute.
• FIG 2 shows a schematic view of a robotic work tool system 200 in some embodiments.
• the schematic view is not to scale.
• the robotic work tool system 200 comprises a robotic work tool 100.
• the robotic work tool is exemplified by a robotic lawnmower, whereby the robotic work tool system may be a robotic lawnmower system or a system comprising a combinations of robotic work tools, one being a robotic lawnmower, but the teachings herein may also be applied to other robotic work tools adapted to operate within a work area.
• the robotic work tool system 200 may also comprises charging station 210 which in some embodiments is arranged with a signal generator 215 and a boundary wire 220.
• the signal generator is arranged to generate a control signal 225 to be transmitted through the boundary wire 220.
• the signal generator is arranged with a controller and memory module.
• the controller and memory module operates and functions in the same manner as the controller 110 and memory 120 of the robotic work tool 100.
• the controller and memory module may also be the controller and memory module of the charging station, hereafter simply referred to as the controller 216.
• the controller and memory module may also comprise or be connected to a communication interface (not shown explicitly but considered to be part of the controller and memory module).
• the communication interface is enabled for communicating with other devices, such as a server, a personal computer or smartphone, a robotic work tool 100, another signal generator 215 and/or another charging station 210 using a wireless communication standard. Examples of such wireless communication standards are Bluetooth®, WiFi® (IEEE802.1 lb), Global System Mobile (GSM) and LTE (Long Term Evolution), to name a few.
• the boundary wire 220 is arranged to enclose a work area 205, in which the robotic lawnmower 100 is supposed to serve.
• the control signal 225 transmitted through the boundary wire 220 causes a magnetic field (not shown) to be emitted.
• a magnetic field is generated.
• the magnetic field may be detected using field sensors, such as Hall sensors.
• a sensor - in its simplest form - is a coil surrounding a conductive core, such as a ferrite core.
• the amplitude of the sensed magnetic field is proportional to the derivate of the control signal. A large variation (fast and/or of great magnitude) results in a high amplitude for the sensed magnetic field.
• the variations are sensed and compared to a reference signal or pattern of variations in order to identify and thereby reliably sense the control signal.
• the robotic work tool system 200 may also optionally comprise at least one beacon (not shown) to enable the robotic lawnmower to navigate the work area using the beacon navigation sensor(s) 180 or in combination with the satellite navigation sensor 180.
• the beacon sensor and the satellite sensor will hereafter be discussed as being the same sensor.
• the work area 205 is in this application exemplified as a garden, but can also be other work areas as would be understood.
• the garden contains a number of obstacles (O), exemplified herein by a number (3) of trees (T), a rock (R), a slope (S) and a house structure (H).
• the trees are marked both with respect to their trunks (filled lines) and the extension of their foliage (dashed lines).
• the work area 205 is in this application exemplified as a garden, but can also be other work areas as would be understood.
• the garden contains a number of obstacles (O), exemplified herein by a slope (S), a rock (R), a number (3) of trees (T) and a house structure (H).
• the trees are marked both with respect to their trunks (filled lines) and the extension of their foliage (dashed lines).
• Figure 3 shows a schematic view of a passage P of a general work area 205.
• the passage P may represent any part of a work area.
• the passage has two sides SI, S2 and two ends EP1 and EP2.
• the robotic work tool 100 may be configured to determine that an end of a passage has been reached in different manners.
• the use of magnetic sensors may not give enough of an indication as they basically only give a distance to a boundary wire.
• the robotic work tool 100 may utilize a deduced reckoning navigation sensor 180, a beacon navigation sensor 190, a satellite navigation sensor 190 possibly in combination with a beacon navigation sensor to determine a location relative an end point.
• the robotic work tool 100 is in some embodiments further arranged to determine that it is at or in the middle M of the passage utilizing the navigation sensors possibly in combination with a map application stored in the memory 120 of the robotic work tool 100.
• the robotic work tool 100 is arranged to determine that it is at or in the middle M of the passage utilizing the magnetic sensors 170. If two (or more) sensors are arranged at different distances to a boundary wire, such as the two front sensors 170-1, 170-2 of the robotic work tool 100 in figure IB will be when following the side as in figure 3, the two sensors will receive signals from the boundary wire 220 at both sides SI, S2 at the same time, but at different signal levels.
• the robotic work tool is therefore configured in some embodiments to stay out of the outermost zones, or at least not to perform the laps (follow the boundary in those zones, unless following the wire by straddling the wire). Therefore, the smallest (first) distance d at which the robotic work tool 100 follows a side, should be larger than the width (as in indicating a distance falling outside) of the outermost zones Zl, Z4. In one embodiment, the first distance d at which the robotic work tool 100 follows a side is 20, 30 or 40 cm. Alternatively the first distance d at which the robotic work tool 100 follows a side is 0 (straddling the wire). In some embodiments the successive or next distances are increased by 20, 30, 40 or 50 cm.
• the robotic work tool is able to detect a passage from zone 2 Z2 to zone 3 Z3 that is a crossing of the middle M, by detecting a shift in the received signal strength of two sensors placed at different distances from the side(s). If for example a first sensor 170-1 is placed closer to the first side SI, than a second sensor 170-2 is, which in turn is placed closer to the second side S2, and the robotic work tool is in zone 2 Z2, the robotic work tool will be able to determine that the middle has been reached or rather crossed by determining that the signal strength received by the first sensor is no longer larger than the signal strength received by the second sensor. The robotic work tool is thus able to determine that the robotic work tool has crossed into zone 3.

Landscapes

• Engineering & Computer Science (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Computer Networks & Wireless Communication (AREA)
• Automation & Control Theory (AREA)
• Aviation & Aerospace Engineering (AREA)
• Electromagnetism (AREA)
• Acoustics & Sound (AREA)
• Life Sciences & Earth Sciences (AREA)
• Environmental Sciences (AREA)
• Robotics (AREA)
• Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
• Manipulator (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=80786082

Family Applications (1)

Country Status (3)

Family Cites Families (14)

• 2021
  • 2021-02-15 SE SE2150161A patent/SE544910C2/en unknown
• 2022
  • 2022-02-02 WO PCT/SE2022/050106 patent/WO2022173343A1/en active Application Filing
  • 2022-02-02 EP EP22704604.2A patent/EP4291013A1/de active Pending

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