Control device for one or more self-propelled mobile apparatus
First Claim
1. Control device for one or more self-propelled mobile apparatus, comprising:
- a fixed base station equipped with a fixed satellite positioning system receiver and a radio-frequency transceiver that communicates with at least one mobile apparatus,at least one self-propelled mobile apparatus, including a power source, a mobile satellite positioning system receiver, and a radio-frequency transceiver that communicates with said base station,a memory containing data representative of a topographical definition of a terrain travelled over by each mobile apparatus and of a position of the base station in, or in the vicinity of, said terrain, wherein,each mobile apparatus transmits raw GNSS information to the base station that is representative of contents and of characteristics of satellite signals received by said mobile apparatus'"'"' mobile satellite positioning system receiver, and to receive a displacement command from said base station;
the base station includes;
a set-point module including said memory and that works out a strategy for travelling over the terrain by said one or more mobile apparatus as a function of the topographical definition of the terrain and as a function of parameters of a task to be accomplished by the mobile apparatus,a positioning module that calculates an instantaneous position of said mobile apparatus from the raw GNSS information transmitted by the mobile apparatus, from the information that is representative of the contents and of the characteristics of the satellite signals received by the fixed satellite positioning system receiver, and from the position of the base station, anda control module that determines a command for displacement of the mobile apparatus as a function of at least an instantaneous position of said mobile apparatus and as a function of the travelling strategy worked out by the set-point module, and to transmit said displacement command to said mobile apparatus.
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Accused Products
Abstract
A device for controlling self-propelled mobile apparatus(es) (300), includes:—a stationary base station (200), provided with a receiver for a satellite location system, referred to as a stationary GNSS receiver, and a radiofrequency transmitter/receiver to enable communication with at least one mobile apparatus, and including: a positioning module, a command module, and a control module for controlling the movement of each mobile apparatus on the ground;—at least one mobile apparatus (200), including a moving element, a mobile GNSS receiver, and a radiofrequency transmitter/receiver for transmitting, to the base station (200), information received by the mobile GNSS receiver and receiving a movement command.
15 Citations
20 Claims
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1. Control device for one or more self-propelled mobile apparatus, comprising:
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a fixed base station equipped with a fixed satellite positioning system receiver and a radio-frequency transceiver that communicates with at least one mobile apparatus, at least one self-propelled mobile apparatus, including a power source, a mobile satellite positioning system receiver, and a radio-frequency transceiver that communicates with said base station, a memory containing data representative of a topographical definition of a terrain travelled over by each mobile apparatus and of a position of the base station in, or in the vicinity of, said terrain, wherein, each mobile apparatus transmits raw GNSS information to the base station that is representative of contents and of characteristics of satellite signals received by said mobile apparatus'"'"' mobile satellite positioning system receiver, and to receive a displacement command from said base station; the base station includes; a set-point module including said memory and that works out a strategy for travelling over the terrain by said one or more mobile apparatus as a function of the topographical definition of the terrain and as a function of parameters of a task to be accomplished by the mobile apparatus, a positioning module that calculates an instantaneous position of said mobile apparatus from the raw GNSS information transmitted by the mobile apparatus, from the information that is representative of the contents and of the characteristics of the satellite signals received by the fixed satellite positioning system receiver, and from the position of the base station, and a control module that determines a command for displacement of the mobile apparatus as a function of at least an instantaneous position of said mobile apparatus and as a function of the travelling strategy worked out by the set-point module, and to transmit said displacement command to said mobile apparatus. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A control system, comprising:
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a self-propelled mobile lawnmower that includes a power source, a displacement motor unit, a receiver of a mobile, satellite positioning system and a radio-frequency transceiver; a fixed base station equipped with i) a fixed, satellite positioning system receiver and ii) a radio-frequency transceiver that communicates with the lawnmower, the lawnmower being separate from the fixed base station and mobile with respect to the fixed base station, wherein the lawnmower'"'"'s radio-frequency transceiver communicates with the radio-frequency transceiver of said base station, the lawnmower transmits raw GNSS information to the base station that is representative of contents and of characteristics of satellite signals received by the lawnmower'"'"'s satellite positioning system receiver, and to receive a displacement command from said base station, wherein the fixed base station further includes i) a memory containing data representative of the topographical definition of a terrain travelled over by each mobile apparatus and of the position of the base station in, or in the vicinity of, said terrain, ii) a set-point module including said memory and that works out a strategy for travelling over the terrain by the lawnmower as a function of the topographical definition of the terrain and as a function of parameters of a task to be accomplished by the mobile apparatus, iii) a positioning module that calculates an instantaneous position of the lawnmower from the raw GNSS information transmitted by the lawnmower, from the information that is representative of the contents and of the characteristics of the satellite signals received by the fixed satellite positioning system receiver, and from the position of the base station, and iv) a control module that determines a command for displacement of the lawnmower as a function of at least an instantaneous position of the lawnmower and as a function of the travelling strategy worked out by the set-point module, and to transmit said displacement command to the lawnmower. - View Dependent Claims (17, 18, 19, 20)
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Specification