公开(公告)号：EP2598965A1

公开(公告)日：2013-06-05

申请号：EP11748468.3

申请日：2011-07-22

Applicant: Active S.r.l.

Inventor： GRIFFINI, Alberto ,  GAIANI, Ettore

IPC: G05D1/02 ,  G01C21/16 ,  G01S5/14 ,  G01S19/49

CPC classification number: G05D1/0278 ,  A01D34/008 ,  G01C21/165 ,  G01S19/14 ,  G01S19/49 ,  G05D1/0238 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0201 ,  G05D2201/0203 ,  G05D2201/0208 ,  G05D2201/0215

Abstract: The present invention relates to a method for controlling a self-propelled robot device, such as a robot device for mowing grass, and a control system that carries out the aforementioned method. According to the invention, the self- propelled robot device (10) is driven by an inertial navigation system (24) for a set time period or distance and said device is periodically stopped for rectifying the position and advancing course thereof by means of a satellite detection system (26) : the periodic correction of the inertial navigation system using satellite detections thus prevents course errors from accumulating. The correction based on the satellite detection system can be possibly optimized through a further selection of the obtained values according to a statistical basis. Preferably, the control method according to the invention also provides a procedure for detecting, recording and mapping the operating region (R) wherein the device (10) is operated.