WO2023019922A1 - 导航方法及自行走装置 - Google Patents
导航方法及自行走装置 Download PDFInfo
- Publication number
- WO2023019922A1 WO2023019922A1 PCT/CN2022/080015 CN2022080015W WO2023019922A1 WO 2023019922 A1 WO2023019922 A1 WO 2023019922A1 CN 2022080015 W CN2022080015 W CN 2022080015W WO 2023019922 A1 WO2023019922 A1 WO 2023019922A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- supplemented
- self
- travel area
- area
- propelled device
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 50
- 230000004044 response Effects 0.000 claims abstract description 25
- 230000007613 environmental effect Effects 0.000 claims description 26
- 238000004590 computer program Methods 0.000 claims description 13
- 230000000295 complement effect Effects 0.000 claims description 3
- 238000004140 cleaning Methods 0.000 description 34
- 238000010408 sweeping Methods 0.000 description 21
- 238000003384 imaging method Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013527 convolutional neural network Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000009333 weeding Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- 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
- A47L11/24—Floor-sweeping machines, motor-driven
-
- 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
- A47L11/4011—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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- 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
- G05D1/242—Means based on the reflection of waves generated by the vehicle
-
- 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
- G05D1/60—Intended control result
- G05D1/648—Performing a task within a working area or space, e.g. cleaning
- G05D1/6482—Performing a task within a working area or space, e.g. cleaning by dividing the whole area or space in sectors to be processed separately
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2105/00—Specific applications of the controlled vehicles
- G05D2105/10—Specific applications of the controlled vehicles for cleaning, vacuuming or polishing
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2107/00—Specific environments of the controlled vehicles
- G05D2107/40—Indoor domestic environment
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2109/00—Types of controlled vehicles
- G05D2109/10—Land vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
- G05D2111/10—Optical signals
- G05D2111/17—Coherent light, e.g. laser signals
Definitions
- the present disclosure relates to the technical field of self-propelled devices, in particular, to a navigation method and a self-propelled device, in particular to a navigation method for a self-propelled device and a self-propelled device using the navigation method.
- Some embodiments of the present disclosure provide a navigation method applied to a self-propelled device, including:
- controlling the self-propelled device In response to the presence of an accessible position adjacent to the travel area to be supplemented, controlling the self-propelled device to reach the accessible position, and controlling the self-propelled device to attempt to enter the travel area to be supplemented to perform operations in the travel area to be supplemented .
- the navigation method further includes: in response to no accessible location adjacent to the travel area to be supplemented, controlling the self-propelled device to give up entering the travel area to be supplemented.
- the determining the travel area to be supplemented includes: determining the travel area to be supplemented based on data information, wherein the data information includes environmental data information acquired by the self-propelled device during the process of completing the current task ; In response to determining that the obstacle is a passable obstacle according to the acquired environmental data information, and the obstacle is located at the boundary position of the traveled area that the self-propelled device has reached in the current operation task, determine that the obstacle is located at the The side of the obstacle facing away from the already-traveled area is the to-be-supplemented travel area.
- the environmental data information includes: at least one or any combination of structured light point cloud information, laser ranging information, and image information.
- the determining the travel area to be supplemented includes: determining the travel area to be supplemented based on data information, wherein the data information includes data information of historical work tasks recorded by the self-propelled device, and the historical work tasks
- the data information includes: historical map information and/or historical navigation information; in response to the data information of the historical job task, it is determined that the traveled area that the current job task has reached does not include one of the areas that the historical job task has reached or a plurality of partial areas, and determine the one or more partial areas as travel areas to be supplemented.
- the determining whether there is an accessible location adjacent to the travel area to be supplemented includes: determining an adjoining portion of the traveled area that is adjacent to the travel area to be supplemented, and responding to The junction of the to-be-supplemented travel area has only passable obstacles, and the adjoining portion is determined as the accessible position.
- controlling the self-propelled device to reach the reachable position, and controlling the self-propelled device to try to enter the travel area to be supplemented includes: ignoring all borders between the reachable position and the travel area to be supplemented The passable obstacle is controlled, and the self-propelled device is controlled to travel toward the to-be-supplemented travel area through the junction of the accessible position and the to-be-supplemented travel area.
- the traversable obstacle includes a door sill and/or a carpet edge.
- the accessible locations are selected in a predetermined order, and the self-propelled device is controlled to try to enter the travel area to be supplemented.
- Some embodiments of the present disclosure provide a navigation device, which is applied to a self-propelled device, and the navigation device includes:
- the to-be-supplemented travel area determination unit is used to determine the to-be-supplemented travel area after the self-propelled device completes the current task;
- an accessible position determination unit for determining whether there is an accessible position adjacent to the travel area to be supplemented
- control unit configured to control the self-propelled device to reach the reachable position in response to the presence of an accessible position adjacent to the travel area to be replenished, and control the self-propelled device to attempt to enter the travel area to be replenished for waiting Complementary work in the travel area.
- control unit is further configured to control the self-propelled device to give up entering the travel area to be supplemented in response to no accessible location adjacent to the travel area to be supplemented.
- the determining the travel area to be supplemented includes: determining the travel area to be supplemented based on data information, wherein the data information includes environmental data information acquired by the self-propelled device during the process of completing the current task ;
- the to-be-supplemented travel area determination unit is configured to determine that the obstacle is a passable obstacle according to the acquired environmental data information, and the obstacle is located in the traveled area that the self-propelled device has reached in the current task.
- the border position of the area is determined to be the travel area to be supplemented on the side of the obstacle facing away from the traveled area.
- the environmental data information includes: at least one or any combination of structured light point cloud information, laser ranging information, and image information.
- the determining the travel area to be supplemented includes: determining the travel area to be supplemented based on data information, wherein the data information includes data information of historical work tasks recorded by the self-propelled device, and the historical work tasks
- the data information includes: historical map information and/or historical navigation information;
- the to-be-supplemented travel area determination unit is configured to respond to determining that the traveled area that the current job task has reached does not include one or more partial areas in the area that the historical job task has reached according to the data information of the historical job task, The one or more partial areas are determined as travel areas to be supplemented.
- the reachable position determination unit is configured to determine an adjoining portion of the traveled area adjacent to the to-be-supplemented travel area, in response to the border between the adjacent portion and the to-be-supplemented travel area having only The passable obstacle is determined as the accessible position with the adjacent part.
- control unit is configured to ignore the passable obstacle at the junction of the accessible position and the travel area to be supplemented, and control the self-propelled device to pass through the accessible position and the The border of the area to be supplemented travels toward the area to be supplemented travel.
- the traversable obstacle includes a door sill and/or a carpet edge.
- control unit in response to the number of the accessible locations being multiple, is configured to select the accessible locations in a predetermined order, and control the self-propelled device to try to enter the travel area to be supplemented.
- Some embodiments of the present disclosure provide a self-propelled device, including a processor and a memory, wherein the memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions , realizing the aforementioned method steps.
- Some embodiments of the present disclosure provide a non-transitory computer-readable storage medium, which is characterized in that computer program instructions are stored, and when the computer program instructions are invoked and executed by a processor, the method steps described in the foregoing embodiments are implemented. .
- the self-propelled device such as the navigation method of the sweeping robot, detects the area to be re-scanned through the environmental data information and/or the data information of the historical operation task, and confirms whether the area to be re-scanned is reachable, providing for subsequent cleaning operations According to, improve cleaning coverage.
- Fig. 1 is a schematic structural diagram of a self-propelled device provided by some embodiments of the present disclosure
- Fig. 2 is a flowchart of a navigation method applied to a self-propelled device provided by some embodiments of the present disclosure
- Fig. 3 is a scene diagram of a navigation method applied to a self-propelled device provided by some embodiments of the present disclosure
- Fig. 4 is a schematic diagram of a control device of a self-propelled device provided by some embodiments of the present disclosure
- Fig. 5 is a schematic diagram of the electronic structure of the self-propelled device provided by some embodiments of the present disclosure.
- Self-propelled devices such as sweeping robots
- the sweeping robot software performs real-time positioning and mapping (Simultaneous Localization and Mapping, SLAM), depth estimation, and obstacle detection based on sensor data to obtain the location map and obstacles required for navigation. Information, so as to realize functions such as obstacle avoidance.
- a depth sensor that can observe obstacles is placed on the front end of the sweeping machine to observe the environment, thereby achieving the purpose of avoiding collisions.
- the following problems may occur: because the depth sensor cannot determine the obstacles in front of it, the obstacle detection based on a single observation of the depth sensor may regard thresholds, carpet edges, etc. as avoid obstacles. As a result, because the room behind the threshold and the carpet area are not cleaned, the cleaning efficiency will be greatly reduced.
- the present disclosure provides a navigation method, which is applied to a self-propelled device, such as a sweeping robot, etc., and the navigation method at least includes the following steps:
- controlling the self-propelled device In response to the presence of an accessible position adjacent to the travel area to be supplemented, controlling the self-propelled device to reach the accessible position, and controlling the self-propelled device to attempt to enter the travel area to be supplemented to perform operations in the travel area to be supplemented .
- the self-propelled device detects the area to be re-scanned through environmental data information and/or data information of historical tasks, and confirms whether the area to be re-scanned is reachable , to provide a basis for subsequent cleaning operations, thereby improving the cleaning coverage.
- the environmental data information includes, for example, at least one or any combination of structured light point cloud information, laser ranging information, and image information
- the data information of the historical task includes: historical map information and/or historical navigation information.
- Fig. 1 is a schematic structural diagram of a self-propelled device provided by some embodiments of the present disclosure.
- a self-propelled device 100 such as a sweeping robot, includes a laser distance measuring device (Laser Distance Sensor, LDS) 10, and the image sensor 20 located on the side wall of the robot body 110, the image sensor 20 includes, for example, a structured light imaging component, and the image sensor 20 may also include a visible light imaging component.
- the laser distance measuring device 10 is used to detect obstacles around the self-propelled device, and to detect the distance between obstacles and the self-propelled device 100 , specifically for detecting obstacles higher than the body of the self-propelled device 100 .
- the image sensor 20 is used to acquire images of obstacles in the traveling direction of the self-propelled device 100 .
- Fig. 2 is a flowchart of a navigation method applied to a self-propelled device provided by some embodiments of the present disclosure. Referring to Fig. 2, the navigation method includes the following steps:
- step S220 after the current task is completed, the travel area to be supplemented is determined
- the current job task mentioned here can be understood as self-propelled device 100 , for example, a cleaning robot that performs a cleaning task according to user instructions, and does not contact or collide with obstacles during the process.
- the self-propelled device 100 such as a sweeping robot, adopts a collision-free mode when performing cleaning operations, that is, it bypasses obstacles detected by the sweeping robot, so as to avoid collisions between the sweeping robot and household and small obstacles, causing damage to furniture, etc. , or the sweeping robot is trapped or damaged, to ensure that it can clean up smoothly.
- the self-propelled device 100 may regard the threshold and the edge of the carpet as obstacles and avoid it, resulting in that the room behind the threshold and the carpet area are not cleaned, while the room behind the threshold and the carpet area are not cleaned. It is obvious that it belongs to the area that needs to be cleaned, so it is necessary to determine these areas and record them as areas to be supplemented.
- the to-be-supplemented travel area may be an uncleaned area that the cleaning robot avoids in order not to contact or collide with obstacles during the current task.
- step S240 determine whether there is an accessible location adjacent to the travel area to be supplemented
- the self-propelled device 100 such as a sweeping robot, needs to judge whether there is an accessible position adjacent to the travel area to be supplemented, that is, to determine whether there is an accessible location that enters the travel area to be supplemented. entrance or passage. If there is an accessible location adjacent to the travel area to be supplemented, the following step S260 can be performed; if there is no accessible location adjacent to the travel area to be supplemented, control the self-propelled device 100 to give up entering the The area to be supplemented will not be cleaned.
- step S260 in response to the existence of an accessible position adjacent to the travel area to be supplemented, the self-propelled device is controlled to reach the accessible position, and the self-propelled device is controlled to try to enter the travel area to be supplemented for waiting. Complementary work in the travel area.
- control the self-propelled device 100 to travel to the reachable position, and control the self-propelled device 100 to try to enter the travel area to be replenished.
- control the self-propelled device 100 to give up entering the area to be supplemented, and not to clean the area to be supplemented.
- the determining the travel area to be supplemented includes: determining the travel area to be supplemented based on data information.
- the data information includes environmental data information obtained by the self-propelled device during the completion of the current task; according to the environmental data information, it is determined that the obstacle is a passable obstacle, and the obstacle is located at the location of the self-propelled device.
- the boundary position of the traveled area that has been reached in the current job task is determined to be the travel area to be supplemented on the side of the obstacle facing away from the traveled area.
- the environmental data information includes: at least one or any combination of structured light point cloud information, laser ranging information, and image information.
- the structured light point cloud information is obtained by the structured light imaging component in the image sensor 20
- the laser ranging information is obtained by the laser distance sensor (LDS) 10
- the image information is obtained by the visible light imaging component in the image sensor 20.
- the self-propelled device 100 can obtain information about obstacles based on the laser distance measuring device (Laser Distance Sensor, LDS) 10, the structured light imaging component and the visible light imaging component in the image sensor 20, such as the outline of the obstacle, the relationship between the obstacle and the self-propelled The distance between the devices 100, etc., these information also belong to the environmental data information.
- LDS Laser Distance Sensor
- the self-propelled device 100 can obtain obstacle information in the surrounding environment of the self-propelled device based on the laser distance measuring device (Laser Distance Sensor, LDS) 10, especially the information of obstacles higher than the body of the self-propelled device 100, for example It includes the distance information between each point on the obstacle and the self-propelled device 100 , so that the contour information of the obstacle and its positional relationship with the self-propelled device 100 can be obtained.
- LDS Laser Distance Sensor
- the self-propelled device 100 can obtain the structured light point cloud information of obstacles in the direction of the self-propelled device through the structured light imaging component in the image sensor 20, even if the obstacle is lower than the height of the self-propelled device 100 body, the structured light imaging component can also The obstacle is detected, and its structured light point cloud information is obtained, including, for example, the outline shape of the obstacle and the distance information from the self-propelled device 100 .
- the self-propelled device 100 can directly capture images of obstacles in the traveling direction of the self-propelled device through the visible light imaging component in the image sensor 20 .
- the self-propelled device 100 performs cleaning in the collision-free mode based on the environmental data information, such as including its self-propelled device 100.
- the way to judge whether the obstacle is a passable obstacle is as follows, when the obstacle can be detected by the laser distance measuring device (Laser Distance Sensor, LDS) 10 of the self-propelled device 100, that is to say, the height of the obstacle is higher than When the height of the body 110 of the self-propelled device 100 is determined, the obstacle is determined to be an impassable obstacle, because thresholds, carpet edges, etc. are generally not higher than the body 110 of the self-propelled device 100 .
- LDS Laser Distance Sensor
- the first threshold is, for example, less than the height of the body 110 of the self-propelled device 100 , and the first threshold is, for example, less than or equal to the height of the body 110 of the self-propelled device 100 from the ground.
- Judging whether an obstacle is a passable obstacle can also be determined by the image information of the obstacle, for example, analyzing the image information of the obstacle, specifically, for example, using a convolutional neural network to process the image information of the obstacle To determine the type of the obstacle, if the determined obstacle is a threshold, or a carpet edge, etc., then determine that the obstacle is a passable obstacle.
- the passable obstacle After judging whether the obstacle is a passable obstacle, if the obstacle is a passable obstacle, and the passable obstacle is located at the boundary position of the traveled area that the self-propelled device has reached in the current task, Then it is determined that the side of the obstacle facing away from the already traveled area is the to-be-supplemented travel area. In this way, the passable obstacle is located at the junction of the traveled area and the to-be-supplemented travel area, and the self-propelled device 100 may enter the to-be-supplemented travel area through the passable obstacle.
- the determining the travel area to be supplemented includes: determining the travel area to be supplemented based on data information; wherein the data information includes data information of historical tasks recorded by the self-propelled device,
- the data information of the historical job task includes: historical map information and/or historical navigation information; according to the data information of the historical job task, it is determined that the traveled area that the current job task has reached does not include the area that the historical job task has reached One or more partial areas, then determine that the one or more partial areas are travel areas to be supplemented.
- the self-propelled device when it performs each cleaning operation, it will store the data information of the job task.
- the data information of the job task includes map information and navigation information of its travel area.
- the map information reflects that the self-propelled device can realize cleaning.
- the navigation information reflects the path of the self-propelled device to perform cleaning operations.
- the cleaned area is the traveled area
- the self-propelled device 100 judges whether the traveled area reached by the current task includes the area reached by the historical task One or more partial regions in . If the self-propelled device 100 determines that the traveled area reached by the current task does not include one or more partial areas in the areas reached by the historical task, then determine the one or more partial areas as the travel area to be supplemented.
- the travel area to be supplemented is determined based on the environmental data information obtained by the self-propelled device during the completion of the current task, and the area to be supplemented is determined based on the data information of the historical task recorded by the self-propelled device. way of traveling the area.
- the present disclosure does not specifically limit this, and the determination of the travel area to be supplemented may also be a combination of the above two methods for comprehensive judgment.
- determining whether there is an accessible location adjacent to the travel area to be supplemented includes: determining an adjoining portion of the traveled area that is adjacent to the travel area to be supplemented, and responding to the adjacent There are only passable obstacles at the junction of the part and the travel area to be supplemented, and the adjoining part is determined as the accessible position.
- the traveling area that has been cleaned by the self-propelled device 100 in the current operation is adjacent to the previously determined travel area to be supplemented, that is, whether there is a traffic area adjacent to the travel area to be supplemented in the travel area. adjoining department. If there is no adjoining part adjacent to the to-be-supplemented travel area in the traveled area, it is impossible for the self-propelled device 100 to enter the supplementary travel area from the traveled area. At this time, the self-propelled device 100 is controlled to give up entering the waiting area. The area to be traveled is supplemented and the area to be traveled is not cleaned.
- the self-propelled device 100 cannot The area enters the supplementary travel area, at this time, the self-propelled device 100 is controlled to give up entering the to-be-supplementary travel area, and not to clean the to-be-supplementary travel area.
- the self-propelled device 100 may try to enter the to-be-supplemented travel area from the adjoining portion In order to carry out supplementary cleaning tasks, the abutment can be used as an accessible location.
- controlling the self-propelled device to reach the accessible position, and controlling the self-propelled device to try to enter the travel area to be supplemented includes:
- Neglecting the passable obstacle at the junction of the accessible position and the travel area to be supplemented controlling the self-propelled device to move toward the to-be-supplemented travel area through the junction of the accessible position and the travel area to be supplemented Travel the area.
- the self-propelled device 100 attempts to enter the travel area to be supplemented, the passable obstacle at the junction of the accessible position and the travel area to be supplemented is ignored, for example, the data collected by the self-propelled device 100 is ignored.
- the data information of the corresponding passable obstacle such as the structured light point cloud information of the passable obstacle
- the self-propelled device 100 can pass the intersection direction of the accessible position and the travel area to be supplemented in the collision-free mode Said area to be replenished travels.
- the self-propelled device 100 is controlled to exit the collision avoidance mode, and directly travel toward the to-be-supplemented travel area through the junction of the accessible position and the to-be-supplemented travel area.
- the self-propelled device 100 If the self-propelled device 100 successfully enters the area to be supplemented, then the self-propelled device 100 performs a supplementary cleaning operation in the area to be supplemented.
- the area enters the supplementary travel area at this time, the self-propelled device 100 is controlled to give up entering the to-be-supplementary travel area, and not to clean the to-be-supplementary travel area.
- the self-propelled device 100 considering that when the self-propelled device 100 tries to enter the travel area to be supplemented, at an accessible position, due to various factors, such as the travel speed of the self-propelled device 100, driving power, etc., the self-propelled device 100 It may be impossible to enter the area to be supplemented by one attempt. Therefore, for the same reachable position, the self-propelled device 100 may perform multiple attempts. In some embodiments, the success rate of the self-propelled device 100 entering the area to be supplemented can be improved by increasing the driving power of the self-propelled device 100 .
- the number of accessible locations may be one or more, and the self-propelled device 100 may attempt to enter the travel area to be supplemented from any of the multiple accessible locations.
- the self-propelled device 100 can sort the reachable positions according to the distance therefrom.
- the accessible locations include M accessible locations, that is, the first accessible location, the second accessible location...the Mth accessible location. The first accessible position, the second accessible position...the Mth accessible position is further away from the self-propelled device 100 in turn, and the self-propelled device 100 can choose the first accessible position closest to it to try to enter the travel area to be supplemented.
- the self-propelled device 100 selects the second accessible position to try to enter the travel area to be supplemented, if at the second accessible position, If the self-propelled device 100 fails to enter the travel area to be supplemented after trying, then the self-propelled device 100 selects a third accessible position to try to enter the travel area to be supplemented.
- the above-mentioned trial operation goes through the M reachable positions until the self-propelled device 100 successfully enters the traveling area to be supplemented.
- the area to be re-scanned can be detected through the environmental data information and/or the data information of the historical task, and it can be confirmed whether the area to be re-scanned is reachable, which provides a basis for subsequent cleaning operations. According to, improve cleaning coverage.
- FIG. 3 is a scene diagram of a navigation method applied to a self-propelled device provided by some embodiments of the present disclosure.
- a self-propelled device 100 such as a sweeping robot, starts cleaning operations in a living room 310,
- the self-propelled device 100 adopts the collision-free mode when performing cleaning operations.
- the self-propelled device 100 detects the threshold 330, it uses the threshold 330 as an obstacle to perform obstacle avoidance operations, so that the self-propelled device 100 cannot enter the bedroom 320 through the threshold 330 in cleaning operations.
- the living room 310 is the traveling area
- the threshold 330 is a passable obstacle
- the bedroom 320 is the area to be cleaned
- the living room 310 is adjacent to the threshold 330.
- Area 311 is the reachable area.
- Embodiments of the present disclosure also provide a self-propelled device, such as a navigation device for a sweeping robot. Each unit executes the method steps described in the above embodiments. The same method steps have the same technical effect, and will not be described here.
- Figure 4 is A schematic diagram of a navigation device for a self-propelled device provided in some embodiments of the present disclosure, as shown in FIG. 4 , the navigation device 400 specifically includes:
- the travel area to be supplemented determining unit 420 used to determine the travel area to be supplemented after the current task is completed.
- An accessible location determination unit 440 used to determine whether there is an accessible location adjacent to the traveling area to be supplemented;
- the control unit 460 configured to control the self-propelled device to reach the accessible position in response to the existence of an accessible position adjacent to the travel area to be supplemented, and control the self-propelled device to try to enter the travel area to be supplemented to perform Work in the area to be supplemented.
- control unit 460 is further configured to control the self-propelled device to give up entering the travel area to be supplemented in response to no accessible location adjacent to the travel area to be supplemented.
- the determining the travel area to be supplemented includes: determining the travel area to be supplemented based on data information, wherein the data information includes environmental data information acquired by the self-propelled device during the process of completing the current task , the environment data information includes, for example: at least one or any combination of structured light point cloud information, laser ranging information, and image information.
- the to-be-supplemented travel area determination unit 440 is configured to determine that obstacles are passable obstacles according to the environmental data information, for example, including thresholds and/or carpet edges, and the obstacles are located at the current working task of the self-propelled device. The border position of the traveled area that has been reached in the middle is determined as the to-be-supplemented travel area on the side of the obstacle facing away from the traveled area.
- the determining the travel area to be supplemented includes: determining the travel area to be supplemented based on data information, wherein the data information includes data information of historical work tasks recorded by the self-propelled device, and the historical work tasks
- the data information includes: historical map information and/or historical navigation information.
- the to-be-supplemented traveling area determination unit 440 is configured to determine in response to the data information of the historical task that the traveled area that the current task has traveled does not include one or more partial areas in the area that the historical task has reached. , determining the one or more partial areas as travel areas to be supplemented.
- the reachable position determination unit 440 is configured to determine an adjoining portion of the traveled area adjacent to the to-be-supplemented travel area, and in response to only There is a passable obstacle, and the adjoining portion is determined as the accessible position.
- control unit 460 is configured to ignore the passable obstacle at the junction of the reachable position and the travel area to be supplemented, and control the self-propelled device to pass through the reachable position and the travel area to be supplemented.
- the border of the travel area to be supplemented travels toward the travel area to be supplemented.
- the number of accessible locations is multiple, and the control unit 460 is configured to select the accessible locations in a predetermined order, and control the self-propelled device to try to enter the travel area to be supplemented.
- the area to be re-scanned can be detected through the environmental data information and/or the data information of historical tasks, and it can be confirmed whether the area to be re-scanned is reachable , to provide a basis for subsequent cleaning operations and improve cleaning coverage.
- An embodiment of the present disclosure provides a non-transitory computer-readable storage medium, which stores computer program instructions, and when the computer program instructions are invoked and executed by a processor, implement any of the method steps described above.
- An embodiment of the present disclosure provides a self-propelled device 100, such as a sweeping robot, including a processor and a memory, the memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions , implementing the method steps in any one of the foregoing embodiments.
- FIG. 5 is a schematic diagram of the electronic structure of the self-propelled device provided by some embodiments of the present disclosure.
- the self-propelled device may include a processing device (such as a central processing unit, a graphics processor, etc.)
- a processing device such as a central processing unit, a graphics processor, etc.
- Various appropriate actions and processes are executed by reading a program in a memory (ROM) 502 or a program loaded from a storage device 508 into a random access memory (RAM) 503 .
- RAM 503 random access memory
- various programs and data necessary for the operation of the electronic robot are also stored.
- the processing device 501, ROM 502, and RAM 503 are connected to each other through a bus 504.
- An input/output (I/O) interface 505 is also connected to the bus 504 .
- the following devices can be connected to the I/O interface 505: input devices 506 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; including, for example, a liquid crystal display (LCD), speaker, vibration an output device 507 such as a computer; a storage device 508 including, for example, a hard disk; and a communication device 509.
- the communication device 509 may allow the self-propelled device to communicate wirelessly or by wire with other devices to exchange data. While Figure 5 shows a self-propelled device having various devices, it should be understood that implementing or possessing all of the devices shown is not a requirement. More or fewer means may alternatively be implemented or provided.
- each block in a flowchart or block diagram may represent a module, program segment, or portion of code that contains one or more logical functions for implementing specified executable instructions.
- the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved.
- each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented by a dedicated hardware-based system that performs the specified functions or operations , or may be implemented by a combination of dedicated hardware and computer instructions.
- each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.
- the system or device disclosed in the embodiment since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and for relevant details, please refer to the description of the method part.
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (20)
- 一种导航方法,应用于自行走装置,所述导航方法包括:在完成当前作业任务后,确定待补充行进区域;确定是否存在邻接于所述待补充行进区域的可达位置;以及响应于存在邻接于所述待补充行进区域的可达位置,控制自行走装置到达所述可达位置,并控制所述自行走装置尝试进入所述待补充行进区域以进行待补充行进区域的作业。
- 根据权利要求1所述的导航方法,其中还包括:响应于不存在邻接于所述待补充行进区域的可达位置,控制所述自行走装置放弃进入所述待补充行进区域。
- 根据权利要求1所述的导航方法,其中,所述确定待补充行进区域包括:基于数据信息确定待补充行进区域,其中,所述数据信息包括在完成当前作业任务过程中由所述自行走装置获取到的环境数据信息;响应于根据所获取到的环境数据信息确定障碍物为可通行障碍物,且所述障碍物位于所述自行走装置在当前作业任务中所到达过的已行进区域的边界位置,确定位于所述障碍物背向所述已行进区域的一侧为所述待补充行进区域。
- 根据权利要求3所述的导航方法,其中,所述环境数据信息包括:结构光点云信息、激光测距信息及图像信息中的至少一种或任意组合。
- 根据权利要求1所述的导航方法,其中,所述确定待补充行进区域包括:基于数据信息确定待补充行进区域,其中,所述数据信息包括所述自行走装置记录的历史作业任务的数据信息,所述历史作业任务的数据信息包括:历史地图信息和/或历史导航信息;响应于根据所述历史作业任务的数据信息,确定当前作业任务所到达过的已行进区域未包含历史作业任务到达过的区域中的一个或多个部分区域,确定所述一个或多个部分区域为待补充行进区域。
- 根据权利要求3或5所述的导航方法,其中,所述确定是否存在邻接于所述待补充行进区域的可达位置包括:确定已行进区域的与所述待补充行进区域相邻接的邻接部,响应于邻接部与所述待补充行进区域的交界处仅具有可通行障碍物,确定与所述邻接部为所述可达位置。
- 根据权利要求6所述的导航方法,其中,控制自行走装置到达所述可达位置,并控制自行走装置尝试进入所述待补充行进区域包括:忽略所述可达位置与所述待补充行进区域的交界处的所述可通行障碍物,控制所述自行走装置经所述可达位置与所述待补充行进区域的交界朝向所述待补充行进区域行进。
- 根据权利要求3所述的导航方法,其中,所述可通行障碍物包括门槛和/或地毯边缘。
- 根据权利要求1所述的导航方法,其中,响应于所述可达位置的数量为多个,按照预定顺序选择可达位置,控制自行走装置尝试进入所述待补充行进区域。
- 一种导航装置,应用于自行走装置,所述导航装置包括:待补充行进区域确定单元,用于在自行走装置完成当前作业任务后,确定待补充行进区域;可达位置确定单元,用于确定是否存在邻接于所述待补充行进区域的可达位置;以及控制单元,用于响应于存在邻接于所述待补充行进区域的可达位置,控制自行走装置到达所述可达位置,并控制所述自行走装置尝试进入所述待补充行进区域以进行待补充行进区域的作业。
- 根据权利要求10所述的导航装置,其中,所述控制单元还用于响应于不存在邻接于所述待补充行进区域的可达位置,控制所述自行走装置放弃进入所述待补充行进区域。
- 根据权利要求10所述的导航装置,其中,所述确定待补充行进区域包括:基于数据信息确定待补充行进区域,其中,所述数据信息包括在完成当前作业任务过程中由所述自行走装置获取到的环境数据信息;所述待补充行进区域确定单元配置为响应于根据所获取的环境数据信息确定障碍物为可通行障碍物,且所述障碍物位于所述自行走装置在当前作业任务中所到达过的已行进区域的边界位置,确定位于所述障碍物背向所述已行进区域的一侧为所述待补充行进区域。
- 根据权利要求12所述的导航装置,其中,所述环境数据信息包括:结构光点云信息、激光测距信息及图像信息中的至少一种或任意组合。
- 根据权利要求10所述的导航装置,其中,所述确定待补充行进区域包括:基于数据信息确定待补充行进区域,其中,所述数据信息包括所述自行走装置记录的历史作业任务的数据信息,所述历史作业任务的数据信息包括:历史地图信息和/或历史导航信息;所述待补充行进区域确定单元配置为响应于根据所述历史作业任务的数据信息确定 当前作业任务所到达过的已行进区域未包含历史作业任务到达过的区域中的一个或多个部分区域,确定所述一个或多个部分区域为待补充行进区域。
- 根据权利要求12或14所述的导航装置,其中,所述可达位置确定单元配置为确定已行进区域的与所述待补充行进区域相邻接的邻接部,响应于邻接部与所述待补充行进区域的交界处仅具有可通行障碍物,确定与所述邻接部为所述可达位置。
- 根据权利要求15所述的导航装置,其中,所述控制单元配置为忽略所述可达位置与所述待补充行进区域的交界处的所述可通行障碍物,控制所述自行走装置经所述可达位置与所述待补充行进区域的交界朝向所述待补充行进区域行进。
- 根据权利要求12所述的导航装置,其中,所述可通行障碍物包括门槛和/或地毯边缘。
- 根据权利要求10所述的导航装置,其中,响应于所述可达位置的数量为多个,所述控制单元配置为按照预定顺序选择可达位置,控制自行走装置尝试进入所述待补充行进区域。
- 一种自行走装置,包括处理器和存储器,其特征在于,所述存储器存储有能够被所述处理器执行的计算机程序指令,所述处理器执行所述计算机程序指令时,实现如权利要求1-9任一所述的方法步骤。
- 一种非瞬时性计算机可读存储介质,其特征在于,存储有计算机程序指令,所述计算机程序指令在被处理器调用和执行时实现如权利要求1-9任一所述的方法步骤。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2024507959A JP2024529082A (ja) | 2021-08-20 | 2022-03-09 | ナビゲーション方法および自己移動型装置 |
EP22857242.6A EP4390313A1 (en) | 2021-08-20 | 2022-03-09 | Navigation method and self-propelled apparatus |
AU2022330049A AU2022330049A1 (en) | 2021-08-20 | 2022-03-09 | Navigation method and self-propelled apparatus |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110963412.5A CN113465592A (zh) | 2021-08-20 | 2021-08-20 | 导航方法及自行走装置 |
CN202110963412.5 | 2021-08-20 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2023019922A1 true WO2023019922A1 (zh) | 2023-02-23 |
Family
ID=77866978
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2022/080015 WO2023019922A1 (zh) | 2021-08-20 | 2022-03-09 | 导航方法及自行走装置 |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP4390313A1 (zh) |
JP (1) | JP2024529082A (zh) |
CN (1) | CN113465592A (zh) |
AU (1) | AU2022330049A1 (zh) |
WO (1) | WO2023019922A1 (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113465592A (zh) * | 2021-08-20 | 2021-10-01 | 北京石头世纪科技股份有限公司 | 导航方法及自行走装置 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20160157688A1 (en) * | 2014-12-05 | 2016-06-09 | Panasonic Corporation Of North America | Upright vacuum cleaner with two auxiliary operating modes |
CN110362099A (zh) * | 2018-03-26 | 2019-10-22 | 科沃斯机器人股份有限公司 | 机器人清扫方法、装置、机器人及存储介质 |
CN111142526A (zh) * | 2019-12-30 | 2020-05-12 | 科沃斯机器人股份有限公司 | 越障与作业方法、设备及存储介质 |
CN111493756A (zh) * | 2020-05-29 | 2020-08-07 | 深圳拓邦股份有限公司 | 一种扫地机补扫方法、存储介质及扫地机 |
CN111700546A (zh) * | 2020-06-24 | 2020-09-25 | 深圳市银星智能科技股份有限公司 | 一种移动机器人的清扫方法及移动机器人 |
CN112462780A (zh) * | 2020-11-30 | 2021-03-09 | 深圳市杉川致行科技有限公司 | 扫地控制方法、装置、扫地机器人及计算机可读存储介质 |
CN113465592A (zh) * | 2021-08-20 | 2021-10-01 | 北京石头世纪科技股份有限公司 | 导航方法及自行走装置 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014018533B4 (de) * | 2014-12-12 | 2023-09-28 | Bomag Gmbh | Verfahren zur Steuerung eines Arbeitszuges |
CN110286669B (zh) * | 2018-03-19 | 2022-09-06 | 科沃斯机器人股份有限公司 | 自移动机器人的行走作业方法 |
CN112438113B (zh) * | 2019-08-27 | 2022-07-05 | 南京泉峰科技有限公司 | 自行走割草机 |
CN111123339A (zh) * | 2019-12-23 | 2020-05-08 | 南京苏美达智能技术有限公司 | 一种双模式的自行走设备控制方法及自行走设备 |
CN111481105A (zh) * | 2020-04-20 | 2020-08-04 | 北京石头世纪科技股份有限公司 | 一种自行走机器人避障方法、装置、机器人和存储介质 |
CN111679688A (zh) * | 2020-06-18 | 2020-09-18 | 小狗电器互联网科技(北京)股份有限公司 | 一种自走机器人的充电方法、装置、可读介质及电子设备 |
-
2021
- 2021-08-20 CN CN202110963412.5A patent/CN113465592A/zh active Pending
-
2022
- 2022-03-09 EP EP22857242.6A patent/EP4390313A1/en active Pending
- 2022-03-09 AU AU2022330049A patent/AU2022330049A1/en active Pending
- 2022-03-09 WO PCT/CN2022/080015 patent/WO2023019922A1/zh active Application Filing
- 2022-03-09 JP JP2024507959A patent/JP2024529082A/ja active Pending
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20160157688A1 (en) * | 2014-12-05 | 2016-06-09 | Panasonic Corporation Of North America | Upright vacuum cleaner with two auxiliary operating modes |
CN110362099A (zh) * | 2018-03-26 | 2019-10-22 | 科沃斯机器人股份有限公司 | 机器人清扫方法、装置、机器人及存储介质 |
CN111142526A (zh) * | 2019-12-30 | 2020-05-12 | 科沃斯机器人股份有限公司 | 越障与作业方法、设备及存储介质 |
CN111493756A (zh) * | 2020-05-29 | 2020-08-07 | 深圳拓邦股份有限公司 | 一种扫地机补扫方法、存储介质及扫地机 |
CN111700546A (zh) * | 2020-06-24 | 2020-09-25 | 深圳市银星智能科技股份有限公司 | 一种移动机器人的清扫方法及移动机器人 |
CN112462780A (zh) * | 2020-11-30 | 2021-03-09 | 深圳市杉川致行科技有限公司 | 扫地控制方法、装置、扫地机器人及计算机可读存储介质 |
CN113465592A (zh) * | 2021-08-20 | 2021-10-01 | 北京石头世纪科技股份有限公司 | 导航方法及自行走装置 |
Also Published As
Publication number | Publication date |
---|---|
EP4390313A1 (en) | 2024-06-26 |
CN113465592A (zh) | 2021-10-01 |
AU2022330049A1 (en) | 2024-04-04 |
JP2024529082A (ja) | 2024-08-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP4193897A1 (en) | Method and apparatus for detecting obstacle, self-propelled robot, and storage medium | |
CN109947109B (zh) | 机器人工作区域地图构建方法、装置、机器人和介质 | |
KR102444658B1 (ko) | 훈련된 경로를 자율주행하도록 로봇을 초기화하기 위한 시스템 및 방법 | |
EP3585571B1 (en) | Moving robot and control method thereof | |
EP3048502B1 (en) | Robot cleaner and method for controlling robot cleaner | |
EP3590665A1 (en) | Mobile robot and control method therefor | |
JP6872128B2 (ja) | 情報処理装置、情報処理方法、およびプログラム | |
KR20190007284A (ko) | 이동 로봇 시스템 및 그 제어방법 | |
CN113741438A (zh) | 路径规划方法、装置、存储介质、芯片及机器人 | |
US20210356293A1 (en) | Robot generating map based on multi sensors and artificial intelligence and moving based on map | |
CN110946511B (zh) | 打滑判断的方法、设备及存储介质 | |
CN111990930B (zh) | 一种测距方法、装置、机器人和存储介质 | |
WO2023019922A1 (zh) | 导航方法及自行走装置 | |
KR102500529B1 (ko) | 이동 로봇 및 그 제어방법 | |
US20220280007A1 (en) | Mobile robot and method of controlling the same | |
KR20190105214A (ko) | 인공 지능을 통해 구속 상황을 회피하는 로봇 청소기 및 그의 동작 방법 | |
JP7519579B2 (ja) | 掃除機システム、および、危険位置掲示方法 | |
CN115683109A (zh) | 基于cuda和三维栅格地图的视觉动态障碍物检测方法 | |
US20220147050A1 (en) | Methods and devices for operating an intelligent mobile robot | |
KR20220083320A (ko) | 이동 로봇의 경로를 표시하는 방법 및 장치 | |
AU2023201499A1 (en) | Method and apparatus for detecting obstacle, self-moving robot, and storage medium | |
JP2002342748A (ja) | 待ち行列検出方法及び待ち行列検出装置 | |
US20210191415A1 (en) | Area profile map learning for robotic device | |
US20230057584A1 (en) | Robot cleaner and method for controlling the same | |
EP2325713B1 (en) | Methods and systems for movement of robotic device using video signal |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 22857242 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2024507959 Country of ref document: JP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 18684556 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2022330049 Country of ref document: AU Ref document number: 2022857242 Country of ref document: EP Ref document number: AU2022330049 Country of ref document: AU |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2022857242 Country of ref document: EP Effective date: 20240320 |
|
ENP | Entry into the national phase |
Ref document number: 2022330049 Country of ref document: AU Date of ref document: 20220309 Kind code of ref document: A |