WO2021077527A1 - 一种用于扫地机的控制方法及控制器 - Google Patents
一种用于扫地机的控制方法及控制器 Download PDFInfo
- Publication number
- WO2021077527A1 WO2021077527A1 PCT/CN2019/120431 CN2019120431W WO2021077527A1 WO 2021077527 A1 WO2021077527 A1 WO 2021077527A1 CN 2019120431 W CN2019120431 W CN 2019120431W WO 2021077527 A1 WO2021077527 A1 WO 2021077527A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- water
- sweeper
- water tank
- controller
- power
- Prior art date
Links
- 241001417527 Pempheridae Species 0.000 title claims abstract description 91
- 238000000034 method Methods 0.000 title claims abstract description 26
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 180
- 238000007599 discharging Methods 0.000 claims abstract description 32
- 230000007423 decrease Effects 0.000 claims description 12
- 239000004744 fabric Substances 0.000 abstract description 3
- 238000010408 sweeping Methods 0.000 description 10
- 238000004140 cleaning Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 7
- 238000009825 accumulation Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
Images
Classifications
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- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
- A47L11/4019—Fill level sensors; Security means to prevent overflow, e.g. float valves
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/026—Refilling cleaning liquid containers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
Definitions
- the invention relates to the technical field of sweeping machines, and in particular to a control method and controller for sweeping machines.
- the sweeper also known as the automatic sweeper, is a smart household appliance that has become popular all over the world in recent years. It can first absorb the ground debris into its own garbage storage box by virtue of a certain artificial intelligence, use brushing and vacuum methods, and then use a humidified rag. Wipe, so as to automatically complete the floor cleaning work in the room.
- the sweeper When the sweeper is working, when the power is lower than the power threshold, it needs to return to the charging base for charging.
- the sweeper’s rag is damp when cleaning the floor. When charging, the damp cloth is often directly against the bottom plate, thus It causes partial water accumulation on the ground, especially for wooden floors, which may damage the floor in severe cases, causing inconvenience to users. Therefore, it is necessary to study a control method and controller for the sweeper.
- the present invention provides a control method and controller for a sweeper, which can effectively avoid damage to the ground caused by residual moisture on the rag when the sweeper is charged.
- the present invention provides a control method for a sweeping machine, including
- the sweeper is controlled to stop working or charge after running for a preset time.
- controlling the water output of the water tank according to the remaining power includes:
- the water output of the water tank decreases as the remaining power decreases.
- the water tank is controlled to stop water discharging, wherein the second preset power is lower than the first preset power.
- controlling the water output of the water tank according to the remaining power includes:
- the water tank stops discharging water.
- the water discharging time of the last water discharging from the water tank is obtained, and the operation time of the sweeper after the water tank stops discharging water is determined according to the water discharging time.
- the present invention provides a controller for a sweeping machine, including:
- the obtaining unit is used to obtain the remaining power or charging instructions of the sweeper
- the control unit is configured to control the water output of the water tank of the sweeper according to the remaining power or the charging instruction; when the water tank stops outputting water, control the sweeper to stop working or charge after running for a preset time.
- the controller is configured to: when the remaining power is lower than a first preset power, control the water output of the water tank to decrease as the remaining power decreases.
- the controller is further configured to: when the remaining power is lower than a second preset power, the controller controls the water tank to stop discharging water, wherein the second preset power is lower than the first power A preset power level.
- the controller is configured to control the water tank to stop water output when the remaining power is lower than a second preset power.
- the controller is further configured to: after the water tank stops discharging water, the controller obtains the water discharging time of the last water discharging from the water tank and determines according to the water discharging time that the sweeper stops discharging water in the water tank After the running time.
- the present invention has the beneficial effects that the control method and controller for the sweeper provided by the present invention detect the remaining power of the sweeper to determine whether the remaining power is lower than the preset power. If the power is lower than the preset power, control the water output of the water tank until the water is stopped, and then set the sweeper to the cleaning mode, so that the wiper of the sweeper will continue to run for a period of time without water from the water tank, and finally set the sweeper to return
- the charging mode controls the sweeper to return to the charging base for charging, which can effectively avoid damage to the ground caused by the residual moisture on the rag when the sweeper is charging, and has the advantages of simple operation and convenient use.
- Fig. 1 is one of the flowcharts of the control method and controller for the sweeper of the present invention
- Figure 2 is the second flow chart of the control method and controller for the sweeper of the present invention
- Figure 3 is the third flow chart of the control method and controller for the sweeper of the present invention.
- Figure 4 is the fourth flow chart of the control method and controller for the sweeper of the present invention.
- Fig. 5 is a structural block diagram of the controller for the sweeper of the present invention.
- the invention discloses a control method for a sweeping machine, as shown in Fig. 1, including:
- Step 1 Obtain the remaining power of the sweeper
- Step 2 Control the water output of the water tank of the sweeper according to the remaining power; where a water pump is provided in the water tank, and the water output of the water tank is controlled by controlling the pump.
- the water pump can work continuously or at intervals;
- Step 3 When the water tank stops, control the sweeper to stop working or charge after running for a preset time.
- the preset time here can be the time value set by the engineer before the sweeper leaves the factory, or it can be based on the user The time value set by your own usage;
- the water on the rag can be effectively used up before the sweeper stops working or charging, so that the rag can be kept as dry as possible to protect the floor to the greatest extent.
- the first preset power may be 20%
- the water output of the water tank decreases with the decrease of the remaining power, that is, the pump water volume of the water pump is controlled to reduce the flow rate of the pump, and then the water output is controlled.
- the value "20%" here is just an example. It is not intended to limit the scope; further, as the power continues to drop, the water on the rag is also constantly decreasing.
- the water tank is controlled to stop the water, where the second preset power Lower than the first preset power level; the power level here can be 15%, the same as above.
- the value here is an example and is not limiting; when the power level of the sweeper battery is less than 15%, it means that the sweeper needs to be charged. After continuing to control the sweeper to work for a period of time, use up the water on the rag as much as possible, and then return to charging.
- a control method for a sweeper as shown in FIG. 3, includes:
- the sweeper When the water tank stops outputting water, the sweeper is controlled to charge after running for a preset time; in this solution, after the sweeper is cleaned, if there is still a lot of power, the sweeper must be charged according to the charging instructions, using the above method, It can effectively consume the residual moisture on the rag and effectively protect the floor.
- step one detecting the remaining power of the sweeper, judging the remaining power and the power threshold, if the remaining power is lower than the power threshold, controlling the water tank to stop water supply ;
- step two set the sweeper to cleaning mode, so that the wiper of the sweeper will continue to run for a period of time without water from the water tank;
- step three set the sweeper to return to the charging mode, and control the sweeper to return to the charging base for charging.
- the sweeper before the sweeper is returned to charge, the sweeper is allowed to continue cleaning for a period of time without water from the water tank, so that most of the water on the rag stays on the ground that has just been dragged.
- step 1 after controlling the water tank to stop the water, first collect the surrounding environment image, then identify the surrounding environment image, and then obtain the working environment state parameters to determine whether the sweeper is in the working environment, that is, detect the type of ground the sweeper is driving on, if it is sweeping If the machine is in the preset working environment, the work content in step 2 is performed. If the sweeper is in a non-working environment, the sweeper is controlled to run to the working environment and then the work content in step two is executed.
- the working environment of the sweeper refers to the cleaning environment when the floor type is floor tiles or wooden floors, and the non-working environment refers to the cleaning environment when the floor type is carpet;
- the sweeping machine bump signal detection and Speed signal detection is used to obtain the type of ground the sweeper is traveling on;
- the sweeper bump signal detection is used to detect the bump signal during the sweeping process;
- the speed signal detection is used to detect the moving speed of the sweeper.
- step 1 after the water tank is controlled to stop the water, the water remaining in the flow channel connected with the rag is sucked back into the water tank through the pump, so as to prevent the water remaining in the flow path from supplying water to the rag.
- the second step it is necessary to first determine whether the water tank has just discharged water before the water tank stops in the first step, so as to determine the time for the sweeper to continue running without water from the water tank. If the water tank has just been discharged before the water tank stops in step 1, extend the operating time of the sweeper wiper without water from the water tank, and the operating time is defined as the first running time; if the water tank has not been discharged just before the water tank stops in step 1 Water, so that the sweeper rag runs according to the preset standard time when the water tank is not flowing.
- the preset standard time is defined as the second running time; the first running time is greater than the second running time, and the first running time is compared with the second running time.
- the sweeper first controls the sweeper to return to the charging base for charging by recognizing the image of the surrounding environment; the charging base is provided with a position sensor for sensing whether the sweeper is returning, and the charging base is also provided with a detection unit and an alarm unit.
- the alarm unit is connected to the detection unit; the detection unit is used to detect the return channel of the sweeper, and the alarm unit is used to send out an alarm message when there is an obstacle in the return channel that prevents the sweeper from docking and charging.
- the present invention also provides a controller for a sweeping machine, wherein the controller is an electronic component, as shown in FIG. 5, which includes:
- the obtaining unit is used to obtain the remaining power of the sweeper
- the control unit is used to control the water output of the water tank of the sweeper according to the remaining power; when the water tank stops outputting water, control the sweeper to stop working or charge after running for a preset time.
- the controller is configured to: when the remaining power is lower than the first preset power, control the water output of the water tank to decrease as the remaining power decreases. Further, the controller is further configured to: when the remaining power is lower than the second preset power, the controller controls the water tank to stop water discharging, wherein the second preset power is lower than the first preset power.
- the controller is configured to control the water tank to stop water output when the remaining power is lower than the second preset power. Further, the controller is further configured to: when the water tank stops discharging water, the controller obtains the water discharging time of the last water discharging from the water tank and determines the operating time of the sweeper after the water tank stops discharging water according to the water discharging time.
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Electric Vacuum Cleaner (AREA)
- Manipulator (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
Description
Claims (10)
- 一种用于扫地机的控制方法,其特征在于,包括获取扫地机的剩余电量或充电指令;根据剩余电量或充电指令控制扫地机水箱的出水量;当所述水箱停止出水时,控制所述扫地机在运行预设时间后停止工作或进行充电。
- 根据权利要求1所述的控制方法,其特征在于,根据所述剩余电量控制所述水箱的出水量包括:当所述剩余电量低于第一预设电量时,所述水箱的出水量随着所述剩余电量的减少而减少。
- 根据权利要求2所述的控制方法,其特征在于,当所述剩余电量低于第二预设电量时,控制所述水箱停止出水,其中,所述第二预设电量低于所述第一预设电量。
- 根据权利要求1所述的控制方法,其特征在于,根据所述剩余电量控制所述水箱的出水量包括:当所述剩余电量低于第二预设电量时,所述水箱停止出水。
- 根据权利要求4所述的控制方法,其特征在于,当所述水箱停止出水后,获取所述水箱上次出水的出水时间,根据所述出水时间确定所述扫地机在所述水箱停止出水后的运行时间。
- 一种用于扫地机的控制器,其特征在于,包括:获取单元,用于获取扫地机的剩余电量或充电指令;控制单元,用于根据所述剩余电量或充电指令控制扫地机水箱的出水量;当所述水箱停止出水时,控制所述扫地机在运行预设时间后停止工作或进行充 电。
- 根据权利要求6所述的控制器,其特征在于,所述控制器配置成:当所述剩余电量低于第一预设电量时,控制所述水箱的出水量随着所述剩余电量的减少而减少。
- 根据权利要求7所述的控制器,其特征在于,所述控制器进一步配置成:当所述剩余电量低于第二预设电量时,所述控制器控制所述水箱停止出水,其中,所述第二预设电量低于所述第一预设电量。
- 根据权利要求6所述的控制器,其特征在于,所述控制器配置成:当所述剩余电量低于第二预设电量时,控制所述水箱停止出水。
- 根据权利要求9所述的控制器,其特征在于,所述控制器进一步配置成:当所述水箱停止出水后,所述控制器获取所述水箱上次出水的出水时间并根据所述出水时间确定所述扫地机在所述水箱停止出水后的运行时间。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP19949585.4A EP4049576A4 (en) | 2019-10-22 | 2019-11-22 | SWEEPER CONTROL METHOD AND CONTROL DEVICE |
US17/630,159 US20220280008A1 (en) | 2019-10-22 | 2019-11-22 | Control method and controller for cleaning robot |
KR1020227011984A KR20220071208A (ko) | 2019-10-22 | 2019-11-22 | 청소 로봇을 위한 제어 방법 및 제어기 |
JP2022522391A JP2022552343A (ja) | 2019-10-22 | 2019-11-22 | 掃除機用の制御方法及び制御手段 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201911007325.1 | 2019-10-22 | ||
CN201911007325.1A CN111000505B (zh) | 2019-10-22 | 2019-10-22 | 一种用于扫地机的控制方法及控制器 |
Publications (1)
Publication Number | Publication Date |
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WO2021077527A1 true WO2021077527A1 (zh) | 2021-04-29 |
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ID=70111536
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PCT/CN2019/120431 WO2021077527A1 (zh) | 2019-10-22 | 2019-11-22 | 一种用于扫地机的控制方法及控制器 |
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US (1) | US20220280008A1 (zh) |
EP (1) | EP4049576A4 (zh) |
JP (1) | JP2022552343A (zh) |
KR (1) | KR20220071208A (zh) |
CN (4) | CN112168093B (zh) |
WO (1) | WO2021077527A1 (zh) |
Families Citing this family (5)
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CN112168093B (zh) * | 2019-10-22 | 2022-04-29 | 追觅创新科技(苏州)有限公司 | 一种用于扫地机的控制方法及控制器 |
CN113827144B (zh) * | 2021-09-27 | 2024-03-08 | 深圳市杉川机器人有限公司 | 清洗装置及其流量控制方法 |
CN114699020B (zh) * | 2022-03-30 | 2024-04-02 | 添可智能科技有限公司 | 清洁设备及清洁设备的部件间适配工作的控制方法 |
CN117243530A (zh) * | 2022-06-09 | 2023-12-19 | 速感科技(北京)有限公司 | 拖地机器人及其喷水控制方法和装置以及可读存储介质 |
KR20240060985A (ko) | 2022-10-31 | 2024-05-08 | 한국에너지기술연구원 | 청소로봇의 충전을 위한 스테이션 도킹시스템 |
Citations (4)
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CN111000505A (zh) | 2020-04-14 |
KR20220071208A (ko) | 2022-05-31 |
CN112168095B (zh) | 2022-05-24 |
US20220280008A1 (en) | 2022-09-08 |
EP4049576A4 (en) | 2022-11-23 |
CN112168095A (zh) | 2021-01-05 |
CN112168093A (zh) | 2021-01-05 |
CN111000505B (zh) | 2020-11-03 |
JP2022552343A (ja) | 2022-12-15 |
CN112168094A (zh) | 2021-01-05 |
CN112168094B (zh) | 2022-03-29 |
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EP4049576A1 (en) | 2022-08-31 |
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