Land maintenance system, in particular for the implementation of a diagnostic monitoring procedure for mobile devices

Abstract

Land maintenance system, the system comprising at least one mobile device (2) configured to perform maintenance work within a work area (1), and a control unit (50) configured to perform at least one diagnostic monitoring sequence of the at least one mobile device (2), the diagnostic monitoring sequence comprising the following steps: - Receiving at least one diagnostic parameter from the mobile device (2) that is representative of at least one service or operational status of the mobile device (2), - wireless transmission of at least one diagnostic parameter together with at least one identification parameter of the mobile device (2) to a remote infrastructure, - Comparing the diagnostic parameter with a respective predefined value or interval, - if at least one diagnostic parameter differs from the predefined value or is outside the predefined interval, suggest to an affected user or execute, after confirmation by an affected user, at least one technical assistance program for the mobile device (2), wherein the identification parameter is a unique code or serial number that is representative of the mobile device (2) transmitting the identification partner, wherein the system comprises a plurality of mobile devices configured to perform maintenance work in respective work areas, wherein the control unit (50) is configured to individually perform a diagnostic monitoring procedure for each mobile device of the plurality, wherein the technical assistance program of the mobile device (2) includes the step of identifying, starting from the at least one diagnostic parameter, at least one component of the mobile device (2) that is in a state of actual failure or malfunction or is susceptible to incipient failure or malfunction, wherein the remote infrastructure includes at least one storage device configured to store the following: - at least one of the predefined value and the predefined interval, and - at least one mapping rule between the diagnostic parameter and at least one technical assistance program, and wherein the diagnostic parameter includes at least one value which is in particular acquired or obtained or estimated in real time and is representative of an operating condition of an on-board battery of the mobile device (2) and / or of an electrical current draw from the on-board battery under a predefined condition.

Description

AREA OF INVENTION

[0001] The present invention relates to a land maintenance system, for example of lawns or gardens or agricultural land, comprising a mobile device that is operated within a work area. SUBJECT OF THE INVENTION

[0002] The object of the present invention is to overcome at least one of the disadvantages and / or limitations of the aforementioned solutions.

[0003] A primary objective is to facilitate and improve the management of the remaining charge of the mobile device's on-board battery during operation.

[0004] Another objective of the present invention is to increase the operating efficiency of a mobile device that is operated within a work area.

[0005] A further objective of the present invention is to prevent a mobile device from becoming blocked within the work area due to the depletion of the on-board battery's charge. A further objective of the present invention is to optimize the working processes of the mobile device depending on the limits imposed by the on-board battery's charge level.

[0006] Another objective of the present invention is to reduce the costs associated with charging the on-board battery.

[0007] Another objective of the present invention is to increase the operating efficiency of the mobile device while simultaneously reducing the costs of charging the on-board battery.

[0008] Another objective of the present invention is to reduce or eliminate the technically caused downtime of a mobile device, for example by troubleshooting or by carrying out regular maintenance work on the mobile device.

[0009] These and other items, which will become clearer from the following description, are essentially achieved by one or more systems according to one or more of the attached claims and / or the following aspects. SUMMARY

[0010] Aspects of the invention are described below.

[0011] In one aspect, the invention relates to a land maintenance system (10), in particular for lawns, gardens or agricultural areas, the system comprising: - at least one mobile device (2) powered by an on-board battery and comprising at least one payload (3) configured to perform maintenance operations, in particular grass cutting operations, within a work area (1), wherein a complete execution of the maintenance operations within the work area (1) defines a work cycle of the mobile device (2), and - at least one control unit (50) that is functionally connected to the mobile device (2) and configured to do the following: o Receiving and / or defining a reference parameter that is representative of a spatial extent of the work area (1) and / or a reference time duration expressed as a time required to complete the care operations within the work area (1), o Determining during the work cycle, and in particular with temporal continuity or with temporal periodicity, according to which two successive determinations are spaced apart from each other by a predetermined time interval, wherein the predetermined time interval is between 100 milliseconds and 600 seconds, preferably between 500 milliseconds and 60 seconds, more preferably between 1 second and 5 seconds, a work completion parameter that is representative of a portion of the work cycle in which the corresponding maintenance operations have been completed, and / or a remaining work parameter that is representative of a portion of the work cycle in which the maintenance operations have not yet been completed, wherein the control unit (50) is in particular configured to define the remaining work parameter depending on a difference between the reference parameter and the work completion parameter, o Estimating a charge level that is representative of the remaining charge of the on-board battery, o Determine, depending on the work completion parameter and the estimated charge level or depending on the remaining work parameter and the estimated charge level, at least one information element regarding the charge level in relation to the work cycle, in particular whether the estimated charge level is sufficient to complete the work cycle.

[0012] In a second aspect according to the preceding aspect, the system (10) comprises a position detector, in particular a GNSS sensor, preferably a GPS sensor, or a beacon, which is functionally connected to and configured with the control unit (50) to emit a position signal that is representative of the position of the mobile device (2) within the working area (1), wherein the control unit (50) is configured to receive the position signal, to determine a position of the mobile device (2) during an operating state during the work cycle and in particular with temporal continuity or according to a predetermined temporal periodicity, and to define at least one position assumed by the mobile device (2) during an operating state, dependent on the work completion parameter and the remaining work parameter.

[0013] In a 3rd aspect according to one of the preceding aspects, the control unit (50) is configured to define the reference parameter by performing a setup cycle of the mobile device (2) within the work area (1), wherein the setup cycle takes place before the work cycle and is suitable for simulating the movements of the mobile device (2) associated with the care operations within the work area (1).

[0014] In a 4th aspect according to the preceding aspect, the control unit (50) is configured to determine the spatial extent of the work area (1) during the setup cycle and / or to record the reference time required to complete the care operations within the work area (1), in particular the reference time being essentially the duration of the setup cycle.

[0015] In a 5th aspect according to one of the preceding aspects 3 or 4, the control unit (50) is configured to receive the reference parameter as an input during the setup cycle, in particular the control unit (50) being configured to receive as an input at least one of the spatial extent of the work area (1) and the reference time period required to complete the care operations within the work area (1).

[0016] In a 6th aspect according to one of the foregoing aspects, the control unit (50) is configured to update the reference parameter at each work cycle performed by the mobile device (2) within the work area (1), in particular wherein the control unit (50) is configured to update the reference time duration based on a time duration recorded in a foregoing work cycle and / or in several of foregoing work cycles, in particular in a foregoing work cycle and / or in a plurality of foregoing work cycles with similar climatic conditions and / or with similar soil conditions in the work area.

[0017] In a 7th aspect according to one of the preceding aspects, the system comprises a position detector, in particular a GNSS sensor, preferably a GPS sensor, or a beacon, which is functionally connected to the control unit (50) and configured to emit a plurality of position signals that are representative of the position of the mobile device (2) within the working area (1) when it is in operation, in particular during the work cycle or during the setup cycle.

[0018] In an 8th aspect according to the preceding aspect, the control unit (50) is configured to receive the plurality of position signals during the setup cycle and to determine the spatial extent of the working area (1) depending on the plurality of position signals received during the setup cycle, in particular wherein the control unit (50) is configured to define a perimeter limit of the working area (1) depending on the position signals received during the setup cycle.

[0019] In a 9th aspect according to one of the preceding aspects, the control unit (50) is configured to determine the remaining working time to complete the maintenance of the work area (1) using the mobile device (2) depending on the difference between the reference time duration and an elapsed working time and / or the remaining spatial extent of the work area (1), in particular wherein the control unit (50) is configured to determine the difference and the remaining spatial extent simultaneously.

[0020] In a 10th aspect according to one of the preceding aspects, the system comprises a velocity detector, optionally an encoder or a GNSS sensor, in particular a GPS sensor, configured to emit a signal representative of the feed rate of the mobile device (2).

[0021] In an 11th aspect according to the preceding aspect, the control unit (50) is configured to receive the speed signal and to determine a corresponding speed value or speed parameter of the mobile device (2) when it is in operation, in particular wherein the speed value or speed parameter is an instantaneous value or an average value calculated over a predefined time interval.

[0022] In a 12th aspect according to one of the preceding aspects 10 and 11, the control unit (50) is configured to receive the speed signal and to calculate a speed value of the mobile device (2) during the operating cycle.

[0023] In a 13th aspect according to one of the preceding aspects, the step of determining whether the estimated charge level is sufficient to complete the work cycle is carried out depending on the speed value of the mobile device (2) during the work cycle.

[0024] In a 14th aspect according to one of the preceding aspects, the control unit (50) is configured to calculate the remaining working time depending on the speed value or speed parameter of the mobile device (2) detected during the work cycle.

[0025] In a 15th aspect according to one of the preceding aspects, the control unit (50) is configured to calculate the remaining working time depending on the speed value or speed parameter of the mobile device (2) detected during the work cycle and / or the reference speed value or reference speed parameter.

[0026] In a 16th aspect according to one of the preceding aspects, the control unit (50) is configured to compare the speed value of the mobile device (2) detected during the work cycle with the reference speed value and, depending on the result of this comparison: ◯ if the speed value of the mobile device (2) recorded during the work cycle is substantially the same as the reference speed value, to calculate the remaining working time as the difference between the reference time duration and the elapsed working time; ◯ if the speed value of the mobile device (2) detected during the work cycle is greater than the reference speed value, the remaining working time is to be calculated as the difference between the reference time duration and an elapsed working time, the difference being multiplied by a coefficient <1 which is inversely proportional to the difference; ◯ if the speed value of the mobile device (2) detected during the work cycle is lower than the reference speed value, the remaining working time is to be calculated as the difference between the reference time duration and an elapsed working time, the difference being multiplied by a coefficient >1 that is proportional to the difference.

[0027] In a 17th aspect according to one of the preceding aspects, the control unit (50) is configured to determine an operating parameter of the mobile device (2) that is representative of a workload, wherein the workload is representative of an energy intake from the battery by the mobile device (2).

[0028] In an 18th aspect according to the preceding aspect, the control unit (50) is configured to determine, depending on the operating parameter, whether the estimated charge level is sufficient to complete the work cycle.

[0029] In a 19th aspect according to one of the preceding aspects 17 and 18, the operating parameter includes at least one of the instantaneous feed rate of the mobile device (2), an average feed rate of the mobile device (2), a current consumption by the battery of the mobile device (2), a cutting height defined by the payload (3), in particular by a cutting blade, a height of the grass captured in the working area (1), a slope gradient of the ground in the working area (1), a characteristic of the ground of the working area (1), which is representative, for example, of how compact and / or uneven and / or wet this ground is, a climatic parameter which is representative, for example, of the occurrence of wind and / or rain.

[0030] In a 20th aspect according to one of the preceding aspects, the control unit (50) is configured to define a battery consumption reference index, wherein this index is representative of energy consumption of the battery required to complete the duty cycle or optionally the setup cycle, or wherein this index is representative of remaining battery life measured at the end of the duty cycle or optionally the setup cycle.

[0031] In a 21st aspect according to one of the preceding aspects, the control unit (50) is configured to determine, depending on the battery consumption reference index, whether the estimated charge level is sufficient to complete the duty cycle.

[0032] In a 22nd aspect according to one of the preceding aspects, the control unit (50) is configured to store and update, in particular to overwrite, the battery consumption reference index at each new duty cycle and / or each charging of the mobile device (2).

[0033] In a 23rd aspect according to one of the preceding aspects, the mobile device (2) comprises a ground tilt detector configured to emit a signal representative of a ground tilt in the working area (1), wherein the control unit (50) is configured to receive the signal and determine a tilt value, in particular a point-specific, average or maximum tilt value in the working area (1).

[0034] In a 24th aspect according to one of the preceding aspects, the mobile device comprises a grass height detector configured to emit a signal representative of a grass height in the working area (1), wherein the control unit (50) is configured to receive the signal and determine a grass height value, in particular a point-specific, average or maximum grass height value in the working area (1).

[0035] In a 25th aspect according to one of the preceding aspects, the control unit (50) is configured to verify the following conditions: i) if the charge level is deemed insufficient to complete the duty cycle, particularly if the remaining battery life is shorter than the remaining operating time; or ii) if A>C*B where: A = remaining working time; B = remaining battery life; C = safety coefficient, where 0.8 <C<1, insbesondere wobei 0,9> C<1, - if at least one of conditions i) or ii) is verified, activating or suggesting to a user to activate at least one corrective action, wherein the at least one corrective action includes activating a power-saving mode of the mobile device (2) and / or instructing the mobile device (2) to return to a docking station and / or to change the cutting height.

[0036] In a 26th aspect according to one of the preceding aspects, the control unit (50) is configured to make at least one alarm signal clearly visible via an interface, depending on the result of the comparison between the remaining operating time of the battery and the remaining working time, in particular as a display on a screen.

[0037] In a 27th aspect according to one of the foregoing aspects, the control unit (50) is in particular configured to emit the alarm signal when at least one of the following conditions occurs: - if the remaining working time is greater than the remaining operating time of the battery, or - if A>C*B where: A = remaining working time; B = remaining battery operating time; C = safety factor, where 0.8 <C<1, insbesondere wobei 0,9> C<1.

[0038] In a 28th aspect according to one of the preceding aspects, the mobile device (2) comprises a battery-powered self-propelled lawn mower, in particular a robotic lawn mower, or a hand-operated battery-powered lawn mower, wherein the lawn mower is self-propelled or hand-guided, in particular a lawn tractor.

[0039] In a 29th aspect according to one of the preceding aspects, the setup cycle includes a movement step of the mobile device (2) to cover the entire extent of the work area (1); or along a perimeter boundary of the work area (1).

[0040] In a 30th aspect according to one of the preceding aspects, the system (10) comprises a velocity detector, optionally an encoder or a GNSS sensor, preferably a GPS sensor, configured to emit a signal representative of a feed rate of the mobile device (2), wherein the control unit (50) is configured to receive the velocity signal at least during the setup cycle and to determine a corresponding reference velocity value or velocity parameter of the mobile device (2).

[0041] In a 31st aspect according to one of the preceding aspects, the control unit (50) is further configured to associate the velocity value or velocity parameter acquired in the setup cycle with the reference time duration, wherein in particular the reference velocity value or velocity parameter is defined as an average feed rate maintained by the mobile device (2) during the setup cycle.

[0042] In a 32nd aspect according to one of the preceding aspects, the control unit (50) is configured to receive the reference parameter as an input in the form of a reference duration for maintenance operations, wherein the reference duration is associated with a reference speed value or speed parameter of the mobile device (2), wherein the reference speed value or speed parameter is defined as an average feed rate that enables the mobile device (2) to complete the work cycle within the reference duration.

[0043] In a 33rd aspect according to one of the preceding aspects, the work completion parameter is defined as the closed spatial extent of the work area (1), wherein the system comprises a position detector, in particular a GNSS sensor, in particular a GPS sensor, which is functionally connected to the control unit (50) and configured to emit position signals that are representative of the position of the mobile device (2) within the work area (1) during an operating state.

[0044] In a 34th aspect according to one of the preceding aspects, the control unit (50) is configured as follows: ◯ Receiving position signals during the work cycle and especially with temporal continuity or according to a predetermined temporal periodicity; ◯ Defining incremental information in relation to a spatial portion of the work area (1) in which the nursing procedures were completed; ◯ Determining the work completion parameter according to the incremental information defined during the work cycle.

[0045] In a 35th aspect according to one of the preceding aspects, the work completion parameter is defined in the form of the elapsed working time from a start of the work cycle, wherein the control unit (50) is configured to calculate the elapsed working time since the start of the work cycle.

[0046] In a 36th aspect according to one of the preceding aspects, the remaining work parameter is determined as remaining working time or as remaining spatial extent of the work area (1) in which the nursing procedures have not yet been completed.

[0047] In a 37th aspect according to one of the preceding aspects, the control unit (50) is configured to determine the remaining working time depending on the difference between the reference time duration and an elapsed working time; and / or to determine the remaining spatial extent of the work area (1) depending on the difference between the spatial extent of the work area (1) and a completed spatial extent of the work area (1), wherein the completed spatial extent of the work area (1) is representative of an extent of the work area in which the care operations were completed.

[0048] In a 38th aspect according to one of the preceding aspects, the control unit (50) is configured to determine a remaining battery life depending on the estimated charge level and optionally the operating parameter, wherein the remaining battery life is representative of a remaining battery operating time for performing maintenance operations.

[0049] In a 39th aspect according to one of the preceding aspects, the control unit (50) is configured to compare the remaining battery life and the remaining operating time and / or to allow a user to compare them.

[0050] In a 40th aspect according to one of the preceding aspects, the control unit is configured to verify the following conditions in order to determine whether the estimated charge level is sufficient to complete the work cycle.

[0051] In a 41st aspect according to one of the preceding aspects, if the remaining battery life is greater than the remaining working time, the estimated charge level is sufficient to complete the work cycle; if the remaining battery life is less than the remaining working time, the estimated charge level is not sufficient to complete the work cycle.

[0052] In a 42nd aspect according to one of the preceding aspects, the energy-saving mode includes at least one of the following operations: - Reducing the feed rate of the mobile device (2) during the work cycle; - Increasing the cutting height; - Reducing the rotational speed of the payload (3), in particular the rotational speed of the cutting blade; - Stopping the payload (3).

[0053] In a 43rd aspect according to one of the preceding aspects, the control unit (50) is configured as follows: - automatic execution of the corrective action depending on the occurrence of one of the activation conditions; or - Suggesting to a user that at least one corrective action be manually activated or executed, where the at least one corrective action is subject to approval or manual operation by the user.

[0054] In a 44th aspect according to any of the preceding aspects, the system comprises at least one user interface that is functionally connected to the control unit (50) and includes a screen, optionally a touchscreen, wherein the control unit (50) is configured to display one or more information elements relating to the work cycle on the screen and / or to receive one or more inputs from a user.

[0055] In a 45th aspect according to one of the preceding aspects, the control unit (50) is configured to display at least one of the following on the screen: - the reference parameter, in particular the reference time duration and / or the spatial extent of the work area (1); - the work completion parameter, in particular the completed portion of the work area (1) and / or the elapsed working time; - the job completion rate; - the remaining work parameter, in particular the remaining proportion of the work area (1) and / or the remaining working time; - the charge level of the on-board battery; - the remaining operating time of the battery.

[0056] In a 46th aspect according to one of the preceding aspects, the control unit (50) is configured to request confirmation from the user to activate the power saving mode via the user interface.

[0057] In a 47th aspect according to one of the preceding aspects, the system according to a first configuration includes the mobile device (2), comprising in particular supporting the payload (3), the control unit (50), the battery, optionally the position detector, the motion devices and the user interface.

[0058] In a 48th aspect according to one of the preceding aspects, the system according to a second configuration includes the mobile device (2), comprising, in particular, the payload (3), the battery, a first controller (5), first communication devices, optionally motion devices for determining its feed within the working area (1), and optionally a user interface, wherein the mobile device (2) is configured to communicate with a remote device comprising a second controller (105), second communication devices (102) configured to enable communication with the first communication devices of the mobile device (2), and a user interface, in particular wherein the first and second communication devices (102) include a wireless connection such as WiFi or Bluetooth.the control unit (50) comprises the first controller (5) and the second controller (105) and wherein the remote device includes at least one smartphone, one tablet and one computer.

[0059] In a 49th aspect according to one of the preceding aspects, the system of the second configuration comprises the remote device, wherein the remote device comprises the position detector, the mobile device (2) comprises at least one holder configured to support the remote device during the work cycle or during the setup cycle, the control unit (50) being configured to receive the position signal emitted by the position detector of the remote device, the position detected by the position detector of the remote device being assumed to be the same as the position of the mobile device (2) when the remote device is held in the holder for the mobile device.

[0060] In a 50th aspect according to any of the foregoing aspects, the mobile device (2) comprises at least one electric motor which is functionally connected to the control unit (50) and the payload (3) and is powered by the on-board battery, wherein the control unit (50) is configured to control the electric motor to drive the payload (3).

[0061] In a 51st aspect according to one of the foregoing aspects, the payload (3) includes at least one of a lawn mower blade, a soil aerator and a hedge trimmer.

[0062] In a 52nd aspect according to one of the preceding aspects, the mobile device (2) comprises motion devices configured to determine its advancement during the care operations, wherein the mobile device (2) is self-propelled or manually driven.

[0063] In a 53rd aspect according to one of the preceding aspects, the mobile device (2) comprises an electric motor or internal combustion engine functionally connected to the motion devices and the control unit (50), the control unit (50) being configured to control the operation of the motor to determine the feed of the mobile device (2).

[0064] In a 54th aspect according to one of the preceding aspects, the electric motor of the motion devices is supplied with power by the battery of the mobile device (2).

[0065] In a 55th aspect according to one of the preceding aspects, the motor of the motion devices has a rated power between 500 W and 6000 W, in particular between 700 W and 4500 W.

[0066] In a 56th aspect according to one of the foregoing aspects, the mobile device (2) includes, in particular in a supporting manner, the battery.

[0067] In a 57th aspect according to one of the foregoing aspects, the mobile device (2) has a length between 50 cm and 300 cm and a width between 30 cm and 200 cm, and optionally a height between 10 cm and 150 cm.

[0068] In a 58th aspect according to one of the preceding aspects, the extent of the working area (1) defining the reference parameter is between 100 m 2 and 10000 m 2 , especially between 500 m 2 and 2000 m 2 .

[0069] In a 59th aspect according to one of the preceding aspects, the work operations include at least one of cutting the turf from the ground, recording at least one characteristic parameter of the soil, soil aeration, soil cultivation, in particular wherein the at least one characteristic parameter of the soil includes an NDVI parameter.

[0070] In a 60th aspect according to one of the foregoing aspects, the work area (1) comprises at least one of a lawn, a garden and a property, and wherein the work area (1) is limited in its extent by a perimeter limit which defines an operating limit of the mobile device (2).

[0071] In a 61st aspect according to any of the foregoing aspects, the battery is a rechargeable battery, in particular wherein the battery has an energy capacity between 2 Ah and 60 Ah. In a 62nd aspect according to any of the foregoing aspects, an operating state of the mobile device (2) comprises the duty cycle or the setup cycle.

[0072] A 63rd aspect, optional after any of the preceding aspects, relates to a procedure for the maintenance of areas, in particular lawns or gardens or agricultural land, by means of a maintenance system, comprising: - at least one mobile device (2) powered by an on-board battery and comprising at least one payload (3) configured to perform maintenance operations, in particular grass cutting operations, within a work area (1), wherein a complete execution of the maintenance operations within the work area (1) defines a work cycle of the mobile device (2), and - at least one control unit (50) that is functionally connected to the mobile device, the method comprising at least the following steps: o Receiving as input and / or defining a reference parameter, wherein the reference parameter is representative of a spatial extent of the work area (1) and / or of a reference time duration, which is expressed as a time required to complete the maintenance operations within the work area (1), o Determining during the work cycle, and in particular with temporal continuity or with temporal periodicity, according to which two successive determinations are spaced apart from each other by a predetermined time interval, wherein the predetermined time interval is between 100 milliseconds and 600 seconds, preferably between 500 milliseconds and 60 seconds, more preferably between 1 second and 5 seconds, a work completion parameter that is representative of a portion of the work cycle in which the corresponding maintenance operations have been completed, and / or a remaining work parameter that is representative of a portion of the work cycle in which the maintenance operations have not yet been completed, wherein the control unit (50) is in particular configured to define the remaining work parameter depending on a difference between the reference parameter and the work completion parameter, o Estimating a charge level that is representative of the remaining charge of the on-board battery, o Determine, depending on the work completion parameter and the estimated charge level or depending on the remaining work parameter and the estimated charge level, at least one piece of information regarding the charge level in relation to the work cycle, in particular whether the estimated charge level is sufficient to complete the work cycle, optional, wherein the method includes moving the mobile device (2) within the work area (1) during a setup cycle to define the reference parameter, the setup cycle taking place prior to the work cycle and being suitable for simulating the movements of the mobile device (2) associated with the care operations within the work area (1), the setup cycle includes, in particular, the following steps: - Determining the spatial extent of the work area (1) and / or - Recording the reference time required to complete the maintenance operations within the work area (1).

[0073] In a 64th aspect according to one of the preceding aspects, the establishment cycle includes at least the following steps: - Moving the mobile device (2) within the work area (1) along paths suitable to cover the entire extent of the work area (1) or along a perimeter boundary of the work area (1); - Performing or simulating the execution of care procedures within the work area (1) using the mobile device (2); - Calculate, at the end of the establishment cycle, of at least one of the extent of the work area (1) and / or the reference duration of the care processes.

[0074] In a 65th aspect according to one of the preceding aspects, the setup cycle further comprises the steps of acquiring incremental information about the position of the mobile device (2) within the work area (1) by a position detector, in particular a GPS sensor, and calculating the extent of the work area (1) based on the incremental information about the position of the mobile device (2) during the setup cycle.

[0075] In a 66th aspect according to any of the foregoing aspects, the setup cycle further includes the step of capturing and storing a battery consumption reference index that is representative of energy consumption used to complete the setup or operating cycle, or representative of the remaining operating time of the battery at the end of the setup cycle.

[0076] In a 67th aspect according to one of the preceding aspects, the procedure includes the step of storing and updating, in particular overwriting, the battery consumption reference index at each new duty cycle.

[0077] A 68th aspect relates to a system (20), optionally according to one of the preceding aspects, for land maintenance, in particular lawns or gardens or agricultural land, comprising: ◯ at least one mobile device (2) configured to carry out maintenance operations, in particular grass cutting operations, within a work area (1), and ◯ at least one control unit (50) that is functionally connected to the mobile device (2), wherein the mobile device (2) comprises the following: ◯ at least one payload (3) and ◯ at least one motor functionally connected to the payload (3), in particular an electric motor configured to be powered by a source of electrical energy, in particular a rechargeable on-board battery, or an internal combustion engine functionally connected to the payload (3); the control unit (50) is configured as follows - Capture at least one of the following operating parameters: o a current that is at least partially absorbed by the electric motor of the payload (3), or its change over time; o an electrical power which is at least partially absorbed by the electric motor of the payload (3), or its change over time; o a rotational speed of the payload (3) or its change over time; o a feed rate of the mobile device (2) or its change over time; - Defining an operational index based on at least one of the aforementioned parameters or a combination thereof; - Determine, depending on the operating index, an operating efficiency index of the mobile device (2) with respect to care operations.

[0078] In a 69th aspect according to the preceding aspect, the operational index includes at least one of the following: - a current or power that is absorbed by the payload (3); - a current or power that is drawn by the payload (3) in combination with a supply voltage of the payload (3); - a current or power that is absorbed by the payload (3) in combination with a rotational speed of the payload (3); - a current or power that is absorbed by the payload (3) in combination with a corresponding feed rate of the mobile device (2); - a rotational speed of the payload (3) in combination with a feed rate of the mobile device (2); - a combination of a current or power absorbed by the payload (3), a rotational speed of the payload (3) and a feed rate of the mobile device (2); - a combination of a current or power consumed by the payload (3), a rotational speed of the payload (3), a feed rate of the mobile device (2) and a supply voltage of the payload (3); - a slope gradient of the floor of the work area (1); - a distance of the payload (3) from the ground; - a height of the payload (3) in relation to the ground; - a grass height measured in the work area (1); - a characteristic of the floor of the work area (1) which is representative of, for example, how compact and / or uneven this floor is; - a hygroscopic parameter that is representative, for example, of how wet the grass is in the work area (1).

[0079] In a 70th aspect according to any of the preceding aspects from 68 onwards, the control unit (50) is configured to compare the operating index with a corresponding optimal operating index, the control unit (50) calculating the operating efficiency index based on this comparison. In a 71st aspect according to any of the preceding aspects from 68 onwards, the mobile device (2) comprises at least one payload (3) rotational velocity detector configured to emit a signal representative of a velocity, in particular an angular velocity, of the payload (3), the rotational velocity detector being functionally connected to the control unit (50), the control unit (50) being configured to receive the velocity signal and determine a rotational velocity of the payload (3) of the mobile device (2). In a 72nd aspect according to any of the preceding aspects from 68 onwards, the control unit (50) is configured as follows: - Define at least one payload rotational speed threshold (3); - Determine, using the rotational speed detector, an operating rotational speed of the payload (3) of the mobile device (2) in an operating state, wherein the payload (3) is active in the operating state and the mobile device (2) performs maintenance operations within the work area (1), - Comparing the operating rotational speed of the payload (3) with the rotational speed threshold of the payload (3); - Defining the operating efficiency index of the mobile device (2) depending on the comparison.

[0080] In a 73rd aspect according to the preceding aspect, - if the operating rotational speed of the payload (3) is higher than the rotational speed threshold of the payload (3), the control unit (50) is configured to define an initial operating efficiency index of the mobile device (2); - if the operating rotational speed of the payload (3) is lower than the rotational speed threshold of the payload (3), the control unit (50) is configured to define a second operating efficiency index of the mobile device (2), wherein the second operating efficiency index of the mobile device (2) is lower than the first operating efficiency index of the mobile device (2).

[0081] In a 74th aspect according to one of the preceding aspects from 68 onwards, the control unit (50) is further configured as follows: - Determine, by means of the rotational speed detector or by receiving as input, a nominal rotational speed of the payload (3) in a free state, wherein in the free state the payload (3) is active and the mobile device (2) is not performing any maintenance operations; - Defining the at least one payload rotational speed threshold (3) as a predefined fraction of the rated rotational speed of the payload (3) of the mobile device (2) in the free state, wherein the payload rotational speed threshold (3) is lower than the rated rotational speed of the payload (3).

[0082] In a 75th aspect according to one of the preceding aspects from 68 onwards, the rotational speed threshold of the payload (3) is between 3% and 20% below the nominal rotational speed of the payload (3), in particular between 5% and 15%.

[0083] In a 76th aspect according to one of the preceding aspects from 68 onwards, the at least one payload rotational speed threshold (3) comprises at least a first and a second payload rotational speed threshold (3), wherein: - the first rotational speed threshold of the payload (3) is between 3% and 9%, in particular between 5% and 8%, preferably between 6% and 7%, lower than the nominal rotational speed of the payload (3); - the second rotational speed threshold of the payload (3) is between 10% and 20%, in particular between 11% and 15%, preferably between 13% and 14%, lower than the nominal rotational speed of the payload (3).

[0084] In a 77th aspect according to one of the preceding aspects from 68 onwards, the control unit (50) is configured as follows: - Comparing the operating rotational speed of the payload (3) with the first and second rotational speed threshold values ​​of the payload (3); - Defining the operating efficiency index of the mobile device (2) depending on the comparison. In a 78th aspect according to one of the preceding aspects from 68, - if the operating rotational speed of the payload (3) is higher than the first rotational speed threshold of the payload (3), the control unit (50) is configured to define the first operating efficiency index of the mobile device (2); - if the operating rotational speed of the payload (3) is lower than the first rotational speed threshold and higher than the second rotational speed threshold, the control unit (50) is configured to define the second operating efficiency index of the mobile device (2), wherein the second operating efficiency index of the mobile device (2) is lower than the first operating efficiency index of the mobile device (2); - if the operating rotational speed of the payload (3) is lower than the first rotational speed threshold and the second rotational speed threshold, the control unit (50) is configured to define a third operating efficiency index of the mobile device (2), wherein the third operating efficiency index of the mobile device (2) is lower than the second operating efficiency index of the mobile device (2).

[0085] In a 79th aspect according to one of the preceding aspects from 68, the mobile device (2) comprises at least one detector for the electric current or power received by the mobile device or, in particular, only by the electric motor of the payload (3) of the mobile device, wherein the current or power detector is functionally connected to the control unit (50).

[0086] In an 80th aspect according to one of the preceding aspects from 68 onwards, the control unit (50) is configured as follows: - Define at least one threshold value for electric current or electrical power; - Determining, by means of the current or power detector, an electrical operating current or electrical operating power in an operating state of the mobile device (2), wherein the mobile device (2) performs maintenance operations within the work area (1) in this operating state; - Comparing the electrical operating current or electrical operating power with the threshold value for electrical current or electrical power of the payload (3); - Defining the operating efficiency index of the mobile device (2) depending on the comparison. In an 81st aspect according to one of the preceding aspects from 68, - if the electrical operating current or electrical operating power is lower than the threshold for electrical current or electrical power, the control unit (50) is configured to define an initial operating efficiency index of the mobile device (2); - if the electrical operating current or electrical operating power of the payload (3) is higher than the threshold for electrical current or electrical power of the payload (3), the control unit (50) is configured to define a second operating efficiency index of the mobile device (2), wherein the second operating efficiency index of the mobile device (2) is lower than the first operating efficiency index of the mobile device (2).

[0087] In an 82nd aspect according to one of the preceding aspects from 68 onwards, the control unit (50) is further configured as follows: - Determine, by means of the current or power detector or by receiving as input, a rated electrical current or rated electrical power, which is recorded in a free state, wherein in this free state the payload (3) is active and the mobile device is not performing any maintenance operations; - Defining at least one threshold value for electric current or electric power depending on the rated electric current or rated electric power, wherein the threshold value for electric current or electric power is higher than the rated electric current or rated electric power.

[0088] In an 83rd aspect according to one of the preceding aspects from 68 onwards, the threshold for electric current or electric power is between 3% and 20% above the rated electric current or electric power, in particular between 5% and 15%.

[0089] In an 84th aspect according to one of the preceding aspects from 68 onwards, the at least one threshold for electric current or electric power comprises at least a first and a second threshold for electric current or electric power, wherein: - the first threshold for electric current or electric power is between 3% and 9%, in particular between 5% and 8%, preferably between 6% and 7%, higher than the rated electric current or rated electric power; - the second threshold for electric current or electric power is between 10% and 20%, in particular between 11% and 15%, preferably between 13% and 14%, higher than the rated electric current or rated electric power.

[0090] In an 85th aspect according to one of the preceding aspects from 68 onwards, the control unit (50) is configured as follows: - Comparing the electrical operating current or electrical operating power with the first and second threshold values ​​for electrical current or electrical power; - Defining the operating efficiency index of the mobile device (2) depending on the comparison, wherein: ◯ if the electrical operating current or electrical operating power is lower than the threshold for electrical current or electrical power, the control unit (50) is configured to define the first operating efficiency index of the mobile device (2); and / or o if the electrical operating current or electrical operating power is higher than the first threshold for electrical current or electrical power and lower than the second threshold for electrical current or electrical power, the control unit (50) is configured to define the second operating efficiency index of the mobile device (2), wherein the second operating efficiency index of the mobile device (2) is lower than the first operating efficiency index of the mobile device (2); and / or o if the electrical operating current or electrical operating power is higher than the first and second threshold values ​​for electrical current or electrical power, the control unit (50) is configured to define a third operating efficiency index of the mobile device (2), wherein the third operating efficiency index of the mobile device (2) is lower than the second operating efficiency index of the mobile device (2).

[0091] In an 86th aspect according to one of the preceding aspects from 68, the mobile device (2) comprises the following: - at least one detector for the electric current or electric power received by the mobile device or, in particular, only by the electric motor of the payload (3) of the mobile device, wherein the current or power detector is functionally connected to the control unit (50), and - at least one rotational velocity detector of the payload (3) configured to emit a signal representative of a velocity, in particular an angular velocity, of the payload (3), wherein the rotational velocity detector is functionally connected to the control unit (50), wherein the control unit (50) is configured to receive the velocity signal and to determine a rotational velocity of the payload (3) of the mobile device (2), the control unit (50) is also configured to do the following: - Define at least one threshold value for the electric current or electrical power and at least one rotational speed threshold value for the payload (3); - Determine, by means of the current or power detector, an electrical operating current or electrical operating power in an operating state of the mobile device (2), wherein in this operating state the payload (3) is active and the mobile device (2) performs maintenance operations within the work area (1), - Determine, using the rotational speed detector, an operating rotational speed of the payload (3) of the mobile device (2) in the operating state, - Compare: o of the electrical operating current or electrical operating power with the threshold value for electrical current or electrical power; and ◯ the operating rotational speed of the payload (3) with the rotational speed threshold of the payload (3); - Defining the operating efficiency index of the mobile device (2) depending on the comparison, wherein: o if the electrical operating current or electrical operating power is lower than the threshold value for electrical current or electrical power, and if the operating rotational speed of the payload (3) is higher than the rotational speed threshold value of the payload (3), the control unit (50) is configured to define an initial operating efficiency index of the mobile device (2).

[0092] In an 87th aspect according to the preceding aspect, if the electrical operating current or electrical operating power of the payload (3) is lower than the electrical current or electrical power threshold of the payload (3) and if the operating rotational speed of the payload (3) is lower than the rotational speed threshold of the payload (3), the control unit (50) is configured to define a second operating efficiency index of the mobile device (2), wherein the second operating efficiency index of the mobile device (2) is lower than the first operating efficiency index of the mobile device (2).

[0093] In an 88th aspect according to one of the preceding aspects 86 and 87, if the electrical operating current or electrical operating power of the payload (3) is higher than the electrical current or electrical power threshold of the payload (3) and if the operating rotational speed of the payload (3) is higher than the rotational speed threshold of the payload (3), the control unit (50) is configured to define the second operating efficiency index of the mobile device (2).

[0094] In an 89thAspect according to one of the preceding aspects from 86, if the electrical operating current or electrical operating power of the payload (3) is higher than the threshold for electrical current or electrical power of the payload (3) and if the operating rotational speed of the payload (3) is lower than the rotational speed threshold of the payload (3), the control unit (50) is configured to define a third operating efficiency index of the mobile device (2), wherein the third operating efficiency index of the mobile device (2) is lower than the second operating efficiency index of the mobile device (2); in particular, wherein the rotational speed threshold of the payload (3) is between 3% and 20% lower than the rated rotational speed of the payload (3), more precisely between 5% and 15%, and the current or power threshold is between 3% and 20% higher than the rated current or power, more precisely between 5% and 15%.

[0095] In a 90th aspect according to one of the preceding aspects from 86 onwards, the at least one payload rotational speed threshold (3) comprises at least a first and a second payload rotational speed threshold (3), wherein: - the first rotational speed threshold of the payload (3) is between 3% and 9%, in particular between 5% and 8%, preferably between 6% and 7%, lower than the nominal rotational speed of the payload (3); - the second rotational speed threshold of the payload (3) is between 10% and 20%, in particular between 11% and 15%, preferably between 13% and 14%, lower than the nominal rotational speed of the payload (3).

[0096] In a 91st aspect according to one of the preceding aspects from 86 onwards, the at least one threshold for electric current or electric power comprises at least a first and a second threshold for electric current or electric power, wherein: - the first threshold for electric current or electric power is between 3% and 9%, in particular between 5% and 8%, preferably between 6% and 7%, higher than the rated electric current or electric power, and - the second threshold for electric current or electric power is between 10% and 20%, in particular between 11% and 15%, preferably between 13% and 14%, higher than the rated electric current or rated electric power.

[0097] In a 92nd aspect according to one of the preceding aspects from 86 onwards, the control unit (50) is configured as follows: - Comparing the electrical operating current or electrical operating power with the first and second threshold values ​​for electrical current or electrical power; - Comparing the operating rotational speed of the payload (3) with the first and second rotational speed threshold values ​​of the payload (3); - Defining the operating efficiency index of the mobile device (2) depending on these comparisons, wherein: ◯ if the electrical operating current or electrical operating power is lower than the first threshold value for electrical current or electrical power, and if the operating rotational speed of the payload (3) is higher than the first rotational speed threshold value of the payload (3), the control unit (50) is configured to define an initial operating efficiency index of the mobile device (2); ◯ if the electrical operating current or electrical operating power is higher than the first threshold for electrical current or electrical power and lower than the second threshold for electrical current or electrical power, and If the operating rotational speed of the payload (3) is lower than the first rotational speed threshold and higher than the second rotational speed threshold, the control unit (50) is configured to define a second operating efficiency index of the mobile device (2), wherein the second operating efficiency index of the mobile device (2) is lower than the first operating efficiency index of the mobile device (2); ◯ if the electrical operating current or electrical operating power is higher than the first and second threshold values ​​for electrical current or electrical power, and If the operating rotational speed of the payload (3) is lower than the first and second rotational speed thresholds, the control unit (50) is configured to define a third operating efficiency index of the mobile device (2), wherein the third operating efficiency index of the mobile device (2) is lower than the second operating efficiency index of the mobile device (2).

[0098] In a 93rd aspect according to one of the preceding aspects, the control unit (50) is further configured to: - Comparing the operational efficiency index with a predetermined efficiency index threshold; - based on this comparison, especially if the operational efficiency index is lower than the predetermined efficiency index threshold, identify at least one corrective action that can increase the operational efficiency index, where at least one corrective action includes at least one of the following: ◯ Increasing the distance between the payload (3) and the ground, in particular increasing the height of the payload (3) in relation to the ground; ◯ Reducing the feed rate of the mobile device (2); ◯ Reducing the rotational speed of the payload (3); ◯ Reducing a voltage or current supplied by the source of electrical energy.

[0099] In a 94th aspect according to one of the preceding aspects, the control unit (50) is configured to automatically perform at least one corrective action according to the comparison between the operating efficiency index and the predetermined efficiency index threshold, in particular wherein the control unit (50) is configured to actively command to increase the height of the payload (3) and / or to reduce the feed rate of the mobile device (2) and / or to reduce the rotational speed of the payload (3).

[0100] In a 95th aspect according to any of the foregoing aspects, the mobile device (2) comprises height adjustment devices configured to allow the adjustment of the height of the payload (3) of the mobile device (2) relative to the ground, wherein the height adjustment devices: - can be operated manually, with the height adjustment devices configured to allow a user to manually vary the height of the payload (3) relative to the ground, or - be automatically operated, wherein the mobile device (2) comprises one or more actuators that are functionally connected to the height adjustment devices and the

[0101] Control unit (50) are connected and configured to vary the height of the payload (3), and wherein the control unit (50) is configured to command the one or more actuators to determine the height variation as a corrective measure.

[0102] In a 96th aspect according to one of the foregoing aspects, the system includes a user interface, comprising in particular a screen, wherein the control unit (50) is connected to and configured with the user interface to make at least one of the following clear via the user interface, in particular to display on the screen: - the identified corrective action to increase the efficiency index, with the user interface configured to request a confirmation signal from a user in question that is representative of: ◯ consent to implement such a corrective action and / or ◯ Acknowledgement by the user of the corrective action proposed by the control unit (50), - the height of the payload (3) in relation to the ground, - the feed rate of the mobile device (2), - the slope of the ground at the position of the mobile device (2), - the index that is representative of the electricity consumed by the payload (3), - the index that is representative of the rotational speed of the payload (3), and - the operating efficiency index of the mobile device (2), in particular calculated and made visible in real time, wherein the control unit (50) is specifically configured to display the operating efficiency index of the mobile device (2) by means of a graphic pattern on the screen, wherein the graphic pattern comprises variable chromatic characteristics according to a value of the operating efficiency index, in particular wherein a green color pattern corresponds to a value of the operating efficiency index that is higher than a value of the operating efficiency index represented by a red or orange color pattern, in particular wherein the first operating efficiency index is displayed in green, the second operating efficiency index in orange and optionally the third operating efficiency index in red.

[0103] In a 97th aspect according to one of the preceding aspects, the control unit (50) is configured as follows: - Defining a safety limit in relation to the efficiency index; - Compare at least one current value of the efficiency index when the mobile device (2) is in operation with the safety limit; - according to the comparison, in particular if at least one current value of the efficiency index is lower than the safety limit, deactivating the payload (3), in particular stopping the rotation of the payload (3).

[0104] In a 98th aspect according to one of the preceding aspects, the control unit (50) is configured as follows: - Recording the voltage and / or current supply of the electric motor of the payload (3); - Estimating the rotational speed of the payload (3) depending on the voltage and current supply, - Determining the operating efficiency index depending on the voltage and / or current and the rotational speed of the payload (3); - according to the operational efficiency index, implementing at least one corrective action.

[0105] In a 99th aspect according to any of the foregoing aspects, the mobile device (2) comprises the following: - a battery-powered self-propelled lawnmower, in particular a robotic lawnmower, or - a hand-operated lawn mower powered by a battery, wherein the lawn mower is self-propelled or hand-guided, in particular a lawn tractor.

[0106] In a 100th aspect according to one of the foregoing aspects, the control unit (50) is configured to determine the operating efficiency index depending on a combination of current or power consumed by the payload (3), rotational speed of the payload (3) and optionally a feed rate of the mobile device (2).

[0107] In a 101st aspect according to one of the preceding aspects, the index of the control unit (50) is configured to determine the operating efficiency index solely dependent on the rotational speed of the payload (3).

[0108] In a 102nd aspect according to one of the preceding aspects, the control unit (50) is configured as follows: - Receiving, as input, or measuring a distance, in particular a height, of the payload (3) in relation to the ground; - furthermore, defining the operating index depending on the distance.

[0109] In a 103rd aspect according to one of the preceding aspects, the control unit (50) is configured as follows: - Receiving, as input, or detecting a slope gradient of the ground at the position of the mobile device (2); - furthermore, defining the operating index depending on the slope gradient.

[0110] In a 104th aspect according to one of the preceding aspects from 68 onwards, the current or power detected by the current or power detector is absorbed by at least one of the following: - the electric motor of the payload (3) of the mobile device (2); - the electric motor of the movement devices of the mobile device (2).

[0111] In a 105th aspect according to one of the preceding aspects from 68 onwards, the nominal rotational speed is between 2500 rpm and 3500 rpm, in particular between 2700 rpm and 3300 rpm, but in particular it is essentially equal to 3000 rpm.

[0112] In a 106th aspect according to one of the preceding aspects from 68 onwards, the first rotational speed threshold is between 2300 rpm and 3200 rpm, in particular between 2700 rpm and 2900 rpm, but in particular it is substantially equal to 2800 rpm.

[0113] In a 107th aspect according to one of the preceding aspects from 68 onwards, the second rotational speed threshold is between 2000 rpm and 3150 rpm, in particular between 2500 rpm and 2700 rpm, but in particular it is substantially equal to 2600 rpm.

[0114] In a 108th aspect according to one of the preceding aspects from 68 onwards, the rated current or rated power is between 50 and 70 amperes or between 2500 and 3400 watts.

[0115] In a 109th aspect according to one of the preceding aspects from 68 onwards, the rated current or rated power is between 55 and 60 amperes or between 2600 and 2800 watts.

[0116] In a 110th aspect according to one of the preceding aspects from 68 onwards, the second threshold current or the second threshold power lies between 60 and 65 amperes or between 2800 and 3100 watts.

[0117] In a 111th aspect according to one of the preceding aspects from 68 onwards, the control unit (50) is configured to periodically perform the step of comparing the operating efficiency index with the predetermined efficiency index threshold and the step of identifying at least one corrective action according to an operating frequency between 0.01 Hz and 1000 Hz, in particular between 0.1 Hz and 100 Hz, and more specifically between 1 Hz and 10 Hz. In a 112th aspect according to one of the preceding aspects from 68 onwards, the control unit (50) is configured to periodically perform the steps of acquiring at least one of the operating parameters of the mobile device (2), defining the corresponding operating index, and calculating the operating efficiency index according to an operating frequency between 0.01 Hz and 1000 Hz, in particular between 0.1 Hz and 100 Hz, and more specifically between 1 Hz and 10 Hz.

[0118] In a 113th aspect according to any of the preceding aspects from 68 onwards, an increase in the value of the operating efficiency index corresponds to a reduction in the current or power consumed by the electric motor of the payload (3) and / or by the electric motor of the motion devices.

[0119] In a 114th aspect according to one of the preceding aspects from 68 onwards, the mobile device (2) comprises at least one velocity detector of the mobile device (2) configured to emit a signal representative of a feed rate of the mobile device (2), wherein the velocity detector is functionally connected to the control unit (50) and in particular comprises a GNSS sensor, especially a GPS sensor, or an encoder. In a 115th aspect,In accordance with one of the aspects above from 68, the control unit (50) is further configured to control or suggest to an operator a corrective action which includes a reduction in the feed rate, in particular wherein the mobile device includes at least one electric motor which is connected to the motion devices of the mobile device, wherein the control unit (50) is configured to control the speed of the electric motor to carry out the corrective action.

[0120] In a 116th aspect according to one of the preceding aspects from 68, the mobile device (2) comprises at least one rotation detector of the payload (3) configured to emit a signal representative of a speed, in particular an angular velocity, of the payload (3), wherein the rotation detector is functionally connected to the control unit (50), in particular wherein the velocity detector is an encoder, wherein the control unit (50) is further configured to control or suggest to an operator a corrective action comprising a reduction in the rotational speed of the payload (3), in particular wherein the mobile device (2) comprises at least one electric motor connected to the payload (3), wherein the control unit (50) is configured to control the speed of the electric motor to carry out the corrective action.

[0121] In a 117th aspect according to one of the preceding aspects from 68, the mobile device (2) comprises at least one ground tilt detector configured to emit a signal representative of a ground tilt in which the mobile device (2) is positioned, the ground tilt detector being functionally connected to the control unit (50) configured to receive the tilt signal and determine a ground tilt value, the control unit (50) being configured to determine the operating efficiency index depending on the tilt value.

[0122] In a 118th aspect according to one of the preceding aspects from 68 onwards, the payload (3) includes at least one of a lawn mower blade, a soil aerator and a hedge trimmer.

[0123] In a 119th aspect according to one of the preceding aspects from 68, the mobile device (2) comprises motion devices configured to determine its advancement during the care operations, wherein the mobile device (2) is self-propelled or manually driven, wherein the mobile device (2) comprises an electric motor or internal combustion engine functionally connected to the motion devices and the control unit (50), wherein the control unit (50) is configured to control the operation of the motor to determine the advancement of the mobile device (2).

[0124] In a 120th aspect according to one of the preceding aspects from 68 onwards, - according to a first configuration, the mobile device (2) includes in particular the supporting payload (3), the control unit (50), optionally motion devices for determining the feed of the same within the working area (1) and the user interface or - according to a second configuration, the system includes the mobile device (2), comprising, in particular, the payload (3), a first controller (5), first communication devices, optionally motion devices for determining the movement of the same within the working area (1), and optionally a user interface, wherein the mobile device (2) is configured to establish a connection via the first communication devices to a remote device, comprising a second controller (105), second communication devices (102) configured to enable communication with the first communication devices of the mobile device (2), and the user interface, in particular wherein the first and second communication devices (102) include a wireless connection such as WiFi or Bluetooth,wherein the control unit (50) comprises the first controller (5) and the second controller (105) and wherein the remote device includes at least one smartphone, tablet or computer.

[0125] In a 121st aspect according to one of the preceding aspects from 68 onwards, the system of the second configuration includes the remote device.

[0126] In a 122nd aspect according to one of the preceding aspects from 68 onwards, according to the second configuration, the steps carried out by the control unit (50) are physically implemented by the first controller (5) and / or by the second controller (105).

[0127] In a 123rd aspect according to one of the preceding aspects from 68 onwards, the source of electrical energy is: - an on-board battery carried by the mobile device (2) and functionally connected to the electric motor of the payload (3), the battery being configured to provide electrical power to the payload (3).

[0128] In a 124th aspect according to one of the preceding aspects from 68, the on-board battery is functionally connected to the electric motor of the motion devices, the battery being configured to supply electrical power to the motion devices.

[0129] In a 125th aspect according to one of the preceding aspects from 68, the source of electrical energy is a household electrical network which can be connected to the mobile device (2) via a power cable to supply power to the electric motor of the payload (3) and optionally to the electric motor of the moving devices.

[0130] In a 126th aspect according to one of the preceding aspects from 68 onwards, the battery is a rechargeable battery, in particular wherein the battery has an energy capacity between 2 Ah and 60 Ah.

[0131] In a 127th aspect according to one of the preceding aspects from 68, the work area (1) comprises at least one of a lawn, a garden and a property, and wherein the work area (1) is limited in its extent by a perimeter limit which defines an operating limit of the mobile device (2).

[0132] In a 128th aspect according to one of the preceding aspects from 68 onwards, the motor of the motion devices has a rated power between 500 W and 6000 W, in particular between 700 W and 4500 W.

[0133] In a 129th aspect according to one of the preceding aspects from 68, the mobile device (2) includes, in particular supporting, the battery.

[0134] In a 130th aspect according to one of the preceding aspects from 68 onwards, the mobile device (2) is: - a battery-powered, self-propelled lawnmower; or - a manually powered lawn mower, where the lawn mower is self-propelled or hand-operated.

[0135] In a 131st aspect according to one of the preceding aspects from 68, the mobile device (2) has a length between 50 cm and 300 cm and a width between 30 cm and 200 cm and optionally a height between 10 cm and 150 cm.

[0136] In a 132nd aspect according to one of the preceding aspects from 68 onwards, the extent of the working area (1) which defines the reference parameter is between 100 m 2 and 10000 m 2 , especially between 500 m 2 and 2000 m 2 .

[0137] In a 133rd aspect according to one of the preceding aspects from 68, the work operations include at least one of cutting the turf from the ground, recording at least one characteristic parameter of the soil, soil aeration, soil cultivation, in particular wherein the at least one characteristic parameter of the soil includes an NDVI parameter.

[0138] A 134th aspect relates to a method, optionally according to one of the foregoing aspects, for land maintenance, in particular lawns or gardens or agricultural land, by means of a mobile device (2), comprising: ◯ at least one payload (3) and ◯ at least one motor functionally connected to the payload (3), in particular an electric motor configured to be powered by a source of electrical energy, in particular a rechargeable on-board battery, or an internal combustion engine functionally connected to the payload (3); the procedure includes the following steps: - Capture at least one of the following operating parameters: o a current that is at least partially absorbed by the electric motor of the payload (3), or its change over time; ◯ an electrical power that is at least partially absorbed by the electric motor of the payload (3), or its change over time; o a rotational speed of the payload (3) or its change over time; o a feed rate of the mobile device (2) or its change over time; - Defining an operational index based on at least one of the aforementioned parameters or a combination thereof; - Determine, depending on the operating index, an operating efficiency index of the mobile device (2) with respect to care operations.

[0139] A 135th aspect relates to a system (30), optionally according to one of the preceding aspects, for land maintenance, in particular lawns or gardens or agricultural land, wherein the system comprises the following: - at least one mobile device (2) configured to carry out maintenance operations, in particular grass cutting operations, within a work area (1), wherein the mobile device (2) is electrically powered and comprises the following: ◯ Movement facilities, ◯ at least one payload (3), ◯ at least one rechargeable on-board battery, - a docking station configured to do the following: ◯ Picking up the mobile device (2); ◯ Enabling an electrical connection with the mobile device (2); ◯ Supplying power to the on-board battery during charging; - a detector configured to detect the distance of the mobile device (2) relative to the docking station; - at least one control unit (50) that is functionally connected to the mobile device (2) and configured to do the following: i) point-by-point determination when the mobile device (2) is in use and depending on the distance detected by the detector, a control parameter that is representative of the distance between the mobile device (2) and the docking station, ii) Estimating in real time a charge level that is representative of the remaining battery charge or remaining battery life, iii) Define, depending on the control parameter, a minimum charge level sufficient for the mobile device (2) to automatically reach the docking station and / or be moved towards the docking station, iv) Comparing the estimated charge level with the minimum charge level and v) Activating, according to the comparison between the estimated charge level and the minimum charge level, an energy-saving mode of the mobile device (2) comprising at least one of the following operations: - Reducing the feed rate of the mobile device (2); - Increasing the cutting height of the mobile device (2); - Stopping the payload (3) or reducing the rotational speed of the payload (3).

[0140] In a 136th aspect according to the preceding aspect, the control unit (50) is configured as follows: - Receiving or obtaining a virtual map of the work area (1) and - Identify for each of the predetermined estimated positions of the mobile device (2) in the working area (1) of a corresponding return path to the docking station (31), wherein the distance between the mobile device (2) and the docking station (51) is calculated along one of the return paths of the mobile device (2) to the docking station (51).

[0141] In a 137th aspect according to one of the preceding aspects from 135 onwards, the control unit (50) is configured to command an automatic return of the mobile device (2) to the docking station in combination with the activation of the power saving mode.

[0142] In a 138th aspect according to one of the preceding aspects from 135 onwards, the control unit (50) is further configured to make clear, in combination with the activation of the power saving mode, at least one instruction relating to the control of the mobile device (2) towards the docking station.

[0143] In a 139th aspect according to one of the preceding aspects from 135 onwards, a plurality of reference paths are defined in the work area (1) to guide the mobile device (2) to the docking station (51), wherein the control unit (50) is configured as follows: - Identifying, in combination with the activation of the power saving mode, a target path among the reference paths, wherein the target path is in particular the reference path that is closest to the mobile device (2) and / or the reference path that is most quickly reachable by the mobile device (2), - Moving and / or propelling the mobile device (2) until the target path is reached, - Moving and / or propelling the mobile device (2) by following the target path until the docking station (51) is reached.

[0144] In a 140th aspect according to one of the preceding aspects from 135 onwards, the control unit (50) is configured as follows: - Estimating the remaining battery life; - Estimating a return time depending on the control parameter, where the return time is representative of the time the mobile device needs to return to the docking station; - Comparing the return time with the remaining battery life; - Activating the power saving mode of the mobile device (2) depending on the comparison.

[0145] In a 141st aspect following the previous aspect, the control unit is configured to activate the power saving mode of the mobile device depending on the comparison, if the following condition is met: RT>C*BT where: RT = Return time; BT = remaining battery life; C = safety factor, where 0.8 <C<0,99, insbesondere wobei 0,85<C<0,95.

[0146] In a 142nd aspect according to one of the preceding aspects from 135 onwards, the control unit (50) is configured as follows: - Estimating an average time consumption of the battery charge that is representative of a variation in the estimated battery charge level over a time interval; - Calculating a return time as a ratio between the control parameter, in particular the distance between the mobile device and the docking station, and an average feed rate of the mobile device; - Determining the remaining battery charging time depending on the estimated battery charge level; - Comparing the return time with the remaining battery charging time; - depending on this comparison, defining the minimum battery charge level.

[0147] In a 143rd aspect according to one of the preceding aspects from 135 onwards, the control unit (50) is configured to determine the remaining battery charging time depending on an operating parameter that is representative of a workload of the mobile device, wherein the workload is representative of an energy intake from the battery by the mobile device (2).

[0148] In a 144th aspect according to one of the preceding aspects from 135 onwards, the operating parameter includes at least one of the instantaneous feed rate of the mobile device (2), an average feed rate of the mobile device (2), a current consumption by the battery of the mobile device (2), a cutting height defined by the payload (3), in particular by a cutting blade, a height of the grass captured in the working area (1), a slope gradient of the ground in the working area (1), a characteristic of the ground of the working area (1), which is representative, for example, of how compact and / or uneven and / or wet this ground is, a climatic parameter which is representative, for example, of the occurrence of wind and / or rain.

[0149] In a 145th aspect according to one of the preceding aspects from 135 onwards, the control unit (50) is configured as follows during the care operations in the work area (1) or during a setup cycle: - Estimating a normalized average consumption of the battery charge in relation to a distance traveled by the mobile device (2) or a time interval, in particular an average consumption per meter, - Determining the minimum charge level depending on the average consumption and the control parameter, in particular wherein the algebraic product of the distance recorded between the mobile device (2) and the docking station and the average consumption yields the minimum charge of the mobile device (2) required to cover this distance.

[0150] In a 146th aspect according to one of the preceding aspects from 135 onwards, the control unit (50) is configured as follows: - Detecting a work interruption position of the mobile device (2) that is representative of the point in the work area (1) where the estimated battery charge level reaches the minimum charge level; - Saving the work interruption position; - after a step of charging the battery of the mobile device (2) instructing an automatic return of the mobile device (2) to the work break position and / or issuing at least one instruction to move the mobile device (2) to the work break position.

[0151] In a 147th aspect according to one of the preceding aspects from 135 onwards, the system further comprises a remote device, in particular a computer, a smartphone or a tablet, comprising at least one user interface, second wireless communication devices (102) and a second controller (105) functionally connected to the user interface and the second communication devices (102).

[0152] In a 148th aspect according to one of the preceding aspects from 135, the mobile device (2) further comprises first wireless communication devices configured to connect to the second communication devices 102 of the remote device.

[0153] In a 149th aspect according to one of the preceding aspects from 135 onwards, the first controller (5) is configured to send at least one status information element relating to the mobile device (2) to the remote device, wherein the status information element comprises at least one of the following: - the recorded charge level of the on-board battery; - the control parameter; - the distance between the mobile device (2) and the docking station; - the minimum charge level of the on-board battery; - one or more of the corrective actions implemented or proposed.

[0154] In a 150th aspect according to one of the preceding aspects from 135 onwards, the mobile device (2) comprises the following: - a battery-powered self-propelled lawnmower, in particular a robotic lawnmower, or - a hand-operated lawn mower powered by a battery, wherein the lawn mower is self-propelled or hand-guided, in particular a lawn tractor.

[0155] In a 151st aspect according to one of the preceding aspects from 135 onwards, the detector comprises the following: - a position detector carried by the mobile device (2), in particular a GNSS detector, in particular a GPS detector, which is configured to emit at least one position signal that is representative of the position of the mobile device (2), wherein the control unit (50) is configured as follows: o Receiving at least one position signal of the mobile device (2) during one of its operating states and determining the position of the mobile device (2) depending on the position signal; o Receiving or defining a position of the docking station; o Estimating the control parameter depending on the position of the mobile device (2) and the position of the docking station.

[0156] In a 152nd aspect according to one of the preceding aspects from 135 onwards, the detector comprises at least a time-of-flight sensor or an optical sensor carried by the mobile device and by the docking station and configured to emit a signal representative of a distance between the mobile device (2) and the docking station, wherein the control unit (50) is configured to estimate the control parameter depending on this distance.

[0157] In a 153rd aspect according to one of the preceding aspects from 135 onwards, the system comprises a user interface that is functionally connected to the control unit (50) and configured to receive one or more information elements from a user, wherein the step of receiving the position of the docking station comprises the step of receiving as input from a user an information element about the position of the docking station via the user interface, optionally wherein the position information includes geographic GPS coordinates; and / or - the docking station includes a position sensor configured to emit a signal representative of the position of the docking station, wherein the step of defining the position of the docking station includes receiving the position signal and determining a position of the docking station.

[0158] In a 154th aspect according to one of the preceding aspects from 135 onwards, the control unit (50) is configured to receive or determine an average feed rate of the mobile device (2) during a step of returning to the docking station;

[0159] In a 155th aspect according to one of the preceding aspects from 135 onwards, the average return speed is a predetermined speed which is lower than an average speed of the mobile device (2) which is maintained during the care operations.

[0160] In a 156th aspect according to one of the preceding aspects from 135 onwards, the control unit (50) is configured to estimate the average consumption of the battery charge depending on at least one of an electric current supplied by the battery, a supply voltage supplied by the battery, a feed rate of the mobile device (2), a rotational speed of the payload (3) or a combination thereof, a temporal variation of the estimated battery charge level.

[0161] In a 157th aspect according to one of the preceding aspects from 135 onwards, the mobile device (2) comprises at least one velocity detector which is functionally connected to the control unit (50), optionally wherein the velocity detector is a GNSS sensor, in particular a GPS sensor, or an encoder.

[0162] In a 158th aspect according to one of the preceding aspects from 135 onwards, the mobile device (2) comprises at least one feed detector which is functionally connected to the control unit (50) and configured to emit a signal which is representative of a distance traveled by the mobile device (2), optionally wherein the feed detector may be a GNSS sensor, in particular a GPS sensor, or an encoder.

[0163] In a 159th aspect according to one of the preceding aspects from 135 onwards, the minimum charge level varies with the variation of the control parameter, in particular wherein, with increasing distance between the mobile device (2) and the docking station, the minimum charge level of the battery required to return the mobile device (2) to the docking station increases.

[0164] In a 160th aspect according to one of the preceding aspects from 135 onwards, the position detector of the mobile device (2) is configured to be powered by the on-board battery.

[0165] In a 161st aspect according to any of the preceding aspects from 135 onwards, the mobile device (2) comprises at least one electric motor which is functionally connected to the control unit (50) and the payload (3) and configured to be powered by the on-board battery, wherein the control unit (50) is configured to control the electric motor to drive the payload (3).

[0166] In a 162nd aspect according to one of the preceding aspects from 135 onwards, the payload (3) includes at least one of a lawn mower blade, a soil aerator and a hedge trimmer.

[0167] In a 163rd aspect according to one of the preceding aspects from 135, the mobile device (2) comprises an electric motor which is functionally connected to the motion devices and the control unit (50) and configured to be powered by the on-board battery of the mobile device (2), the control unit (50) being configured to control the operation of the motor in order to determine the feed rate of the mobile device (2).

[0168] In a 164th aspect according to one of the preceding aspects from 135 onwards, the mobile device (2) includes at least one charging port and the docking station includes a corresponding charging port, the charging ports being configured to be electrically connected to each other when the mobile device (2) is at the docking station to enable charging of the on-board battery of the mobile device (2).

[0169] In a 165th aspect according to one of the preceding aspects from 135 onwards, the docking station includes a power outlet configured to connect to a mains power outlet.

[0170] In a 166th aspect according to any of the preceding aspects from 135 onwards, the mobile device (2) is self-propelled and includes one or more proximity sensors and / or one or more position sensors configured to send signals to the control unit (50), wherein the control unit (50) is configured to control the motion devices to move the mobile device (2) within the work area (1) to perform the care operations. In a 167th aspect according to any of the preceding aspects from 135 onwards, the control unit (50) includes a first controller (5) carried by the mobile device (2) and powered by the on-board battery, wherein the first controller (5) is configured to perform the steps of the control unit (50).

[0171] In a 168th aspect according to one of the preceding aspects from 135 onwards, the motor of the motion devices has a rated power between 500 W and 6000 W, in particular between 700 W and 4500 W.

[0172] In a 169th aspect according to one of the preceding aspects from 135 onwards, the battery is a rechargeable battery, in particular wherein the battery has an energy capacity between 2 Ah and 60 Ah.

[0173] In a 170th aspect according to one of the preceding aspects from 135 onwards, the mobile device (2) includes, in particular supporting, the battery.

[0174] A 171st aspect relates to a method, optionally according to one of the preceding aspects from 135 onwards, for operating a mobile device (2) for land maintenance in a work area (1) and in the direction of a docking station, comprising the following steps: i) Spot-by-spot determination when the mobile device (2) is in operation and depending on the distance detected between the mobile device (2) and the docking station, of a control parameter that is representative of the distance between the mobile device (2) and the docking station, ii) Estimating in real time a charge level that is representative of a remaining charge of a battery of the mobile device (2) and / or a remaining operating time of a battery of the mobile device (2), iii) Define, depending on the control parameter, a minimum charge level sufficient for the mobile device (2) to automatically reach the docking station and / or be moved towards the docking station, iv) Comparing the estimated charge level with the minimum charge level and v) Activating, according to the comparison between the estimated charge level and the minimum charge level, an energy-saving mode of the mobile device (2) comprising at least one of the following operations: - Reducing the feed rate of the mobile device (2); - Increasing the cutting height of the mobile device (2); - Stopping a payload (3) of the mobile device (2) or reducing a rotational speed of a payload (3) of the mobile device (2).

[0175] In a 172nd aspect according to the preceding aspect, the procedure further comprises the following steps: - Receiving or obtaining a virtual map of the work area (1) and - Identifying for each of the predetermined estimated positions of the mobile device (2) in the working area (1) of a corresponding return path to the docking station (51), wherein the distance between the mobile device (2) and the docking station (51) along one of the return paths of the mobile device (2) in the direction of the docking station (51) is calculated.

[0176] In a 173rd aspect according to one of the preceding aspects from 135 onwards, the procedure further comprises the following steps: - Defining a large number of reference paths in the workspace (1), - Identifying, in combination with the activation of the power saving mode, a target path among the reference paths, wherein the target path is in particular the reference path that is closest to the mobile device (2) and / or the reference path that is most quickly reachable by the mobile device (2), - Moving and / or propelling the mobile device (2) until the target path is reached, - Moving and / or propelling the mobile device (2) by following the target path until the docking station (51) is reached.

[0177] A 174th aspect relates to a system (40), optionally according to one of the preceding aspects, for land maintenance, in particular lawns or gardens or agricultural land, the system comprising: - at least one docking station; - at least one mobile device (2) comprising at least one payload (3) and configured to perform maintenance operations within a work area (1), wherein the mobile device (2), particularly when in operation, is powered by at least one rechargeable on-board battery, the on-board battery being configured to be charged by the docking station, - at least one control unit (50) that is functionally connected to the mobile device (2), wherein the control unit (50) is configured as follows: o Receiving or setting at least one loading time window; o Enabling, in particular carrying out by means of the docking station, a charging process of the on-board battery of the mobile device (2) in the at least one charging time window.

[0178] In a 175th aspect according to the preceding aspect, the control unit (50) is configured as follows: - Estimate at least one charge level that is representative of the remaining charge and / or remaining operating time of the on-board battery of the mobile device (2); - Comparing the estimated charge level with at least one charge threshold value; - depending on this comparison, in particular if the estimated charge level is lower than the charge threshold, activating, in particular carrying out, a charging process of the on-board battery of the mobile device (2).

[0179] In a 176th aspect according to one of the preceding aspects from 174 onwards, the control unit (50) is configured as follows: - Facilitating the charging process of the on-board battery of the mobile device (2) within at least one charging time window, or - Preventing or substantially reducing the charging process of the on-board battery of the mobile device (2) outside of at least one charging time window, or - Making the charging process of the on-board battery of the mobile device (2) outside of the at least one charging time window dependent on the receipt of specific consent, the consent of which may in particular require a predetermined command issued by a user or a predetermined action completed by a user.

[0180] In a 177th aspect according to one of the preceding aspects from 174 onwards, the mobile device (2) is self-propelled, wherein the mobile device (2) comprises motion devices which are functionally connected to and configured with the control unit (50) to determine the movement of the mobile device (2), and wherein the control unit (50) is configured to switch the operating mode of the mobile device (2) between, according to an estimated battery charge level and / or a current time compared to the at least one charging time window: - a standard operating mode, wherein the mobile device (2) performs the maintenance operations and / or is moved in the work area according to parameters of the standard operating mode; - an energy-saving mode, wherein the mobile device (2) performs the maintenance operations and / or is moved in the work area according to energy-saving operating parameters, which are reduced in particular with regard to the operating parameters in the standard operating mode; - a charging mode wherein the mobile device (2) is subject to a charging process of the on-board battery at the docking station.

[0181] In a 178th aspect according to one of the preceding aspects from 174 onwards, the system is configurable in at least one of the following configurations: - an initial configuration in which, if: ◯ the estimated charge level of the on-board battery of the mobile device (2) is below a predefined minimum level; and if ◯ the current time which includes at least one time window; the control unit (50) is configured to move the mobile device (2) towards the docking station and to perform the charging process of the on-board battery; - a second configuration in which, if: o the detected charge level of the on-board battery of the mobile device (2) is below a predefined minimum level; and if o the current time is outside of at least one time window; the control unit (50) is configured to stop or hold the mobile device (2) in a stationary position or to command the mobile device (2) to return to a storage location; - a third configuration in which, if: o the detected charge level of the on-board battery of the mobile device (2) is above a predefined minimum level; the control unit (50) is configured to command the mobile device (2) to perform the maintenance operations in the work area, in particular wherein the control unit (50) is configured to command the movement of the mobile device (2) to perform the maintenance operations; - a fourth configuration in which, if: ◯ the detected charge level of the on-board battery of the mobile device (2) is above a predefined minimum level but below a predefined confidence level, the confidence level being higher than the minimum level; and if ◯ the current time is outside of at least one time window; the control unit (50) is configured to perform the maintenance operations and at least one corrective action, the corrective action comprising activating an energy-saving mode of the mobile device (2); a fifth configuration, where: ◯ the detected charge level of the on-board battery of the mobile device (2) is above a predefined minimum level but below a predefined confidence level, the confidence level being higher than the minimum level; and if ◯ the current time which includes at least one time window; the control unit (50) is configured to move the mobile device (2) towards the docking station and to perform the charging process of the on-board battery.

[0182] In a 179th aspect according to one of the preceding aspects from 174 onwards, the minimum level mentioned in the first and / or second and / or third and / or fourth and / or fifth configuration is defined as a charge level which is considered insufficient to supply power to the payload (3) and / or the motion devices for carrying out maintenance operations, in particular wherein the minimum level is less than 15% of the maximum charge level of the battery, preferably less than 10%, more preferably less than 5%.

[0183] In a 180th aspect according to one of the preceding aspects from 174 onwards, the confidence level mentioned in the fourth and / or fifth configuration is defined as a charge level which is considered sufficient to supply power to the payload (3) and / or the motion devices for carrying out the care operations, but which justifies taking measures to delay reaching the minimum level, in particular wherein the confidence level is between 15% and 13% of the maximum battery charge level, preferably between 10% and 7%, more preferably between 5% and 3%.

[0184] In a 181st aspect according to one of the preceding aspects from 174 onwards, at least one loading window is a dynamic window.

[0185] In a 182nd aspect according to one of the preceding aspects from 174 onwards, the docking station (31) is supplied at least partially with electrical energy from a plant that generates renewable energy, in particular by a photovoltaic plant or a wind power plant.

[0186] In a 183rd aspect according to one of the preceding aspects from 174 onwards, the control unit (50), in particular a control of the docking station (31), is configured as follows: - Capturing and / or receiving a parameter that is representative at a specific point in time of the amount of electrical energy generated by the plant and / or of the energy efficiency of the plant; - Comparing the parameter with a threshold parameter; - Setting and / or activating at least one loading time window according to the comparison.

[0187] In a 184th aspect according to one of the preceding aspects from 174 onwards, the control unit (50), in particular a control of the docking station (31), is configured as follows: - selective acquisition and / or reception of a network parameter that is representative of the total electrical power consumed by the loads connected to the electrical network in relation to the electrical power generated, - Comparing the network parameter with a threshold network parameter, - Setting and / or activating at least one loading time window according to this comparison.

[0188] In a 185th aspect according to one of the preceding aspects from 174 onwards, the control unit (50), in particular a control of the docking station (31), is configured as follows: - selective detection and / or reception of a network frequency; - Comparing the network frequency with the nominal frequency of the power grid; - Setting and / or activating at least one charging time window if the detected and / or received grid frequency is higher than the nominal frequency of the power grid.

[0189] In a 186th aspect according to one of the preceding aspects from 174 onwards, the control unit (50), in particular a control of the docking station (31), is configured as follows: - Received from an electricity supply company and in particular via an online service, at least one piece of information representative of energy costs that vary depending on the time of day and / or a time-of-use tariff; - Extrapolating at least one time window with a minimum price or low price; - Setting and / or activating at least one loading time window within which at least one time window has a minimum price or low price.

[0190] In a 187th aspect according to one of the preceding aspects from 174 onwards, the control unit (50) is configured as follows: - Receiving as input or detection during a charging process, in which in particular the mobile device (2) is electrically connected to the docking station, a characteristic information element of the docking station and optionally an information element that is representative of a capacity of the on-board battery of the mobile device (2), in particular an electrical charging power deliverable to the on-board battery, - Estimating, depending on the characteristic information of the docking station and optionally on the information that is representative of a capacity of the on-board battery, a duration of a full charge or a charging end time, - Optional further adjustment of the operating program depending on the charging duration and / or the charging end time.

[0191] In an 188th aspect according to one of the preceding aspects from 174 onwards, the control unit (50) is configured to set a start time for the charging process depending on the predetermined or estimated time required for a full charge, so that the charging process takes place completely or at least predominantly within the at least one charging time window. In an 189th aspect according to one of the preceding aspects from 174 onwards, the system (40) comprises a remote device (100) configured to receive from a user, in particular via an interface of the remote device (100), the information element that is representative of the at least one charging time window and to send the information element that is representative of the at least one charging time window to a controller of the mobile device (2) and / or the docking station (31).

[0192] In a 190th aspect according to one of the preceding aspects from 174 onwards, the mobile device (2) is: - a battery-powered self-propelled lawnmower, in particular a robotic lawnmower, or - a hand-operated lawn mower powered by a battery, wherein the lawn mower is self-propelled or hand-guided, in particular a lawn tractor.

[0193] In a 191st aspect according to any of the preceding aspects from 174 onwards, the mobile device (2) comprises at least one electric motor which is functionally connected to the control unit (50) and the payload (3) and configured to be powered by the on-board battery, wherein the control unit (50) is configured to control the electric motor to drive the payload (3).

[0194] In a 192nd aspect according to one of the preceding aspects from 174 onwards, the payload (3) includes at least one of a lawn mower blade, a soil aerator and a hedge trimmer.

[0195] In a 193rd aspect according to one of the preceding aspects from 174, the mobile device (2) comprises an electric motor which is functionally connected to the motion devices and the control unit (50) and configured to be powered by the on-board battery of the mobile device (2), the control unit (50) being configured to control the operation of the motor in order to determine the feed rate of the mobile device (2).

[0196] In a 194th aspect according to one of the preceding aspects from 174 onwards, the mobile device (2) includes at least one charging port and the docking station includes a corresponding charging port, the charging ports being configured to be electrically connected to each other when the mobile device (2) is at the docking station to enable charging of the on-board battery of the mobile device (2).

[0197] In a 195th aspect according to one of the preceding aspects from 174 onwards, the motor of the motion devices has a rated power between 500 W and 6000 W, in particular between 700 W and 4500 W.

[0198] In a 196th aspect according to one of the preceding aspects from 174 onwards, the battery is a rechargeable battery, in particular wherein the battery has an energy capacity between 2 Ah and 60 Ah.

[0199] In a 197th aspect according to one of the preceding aspects from 174 onwards, the mobile device (2) includes, in particular supporting, the battery.

[0200] In a 198th aspect according to one of the preceding aspects from 174 onwards, the at least one charging time window defines one or more respective time windows within which the control unit (50) is configured to enable, in particular to carry out, the recharging of the on-board battery.

[0201] In a 199th aspect according to one of the preceding aspects from 174 onwards, the energy saving mode includes at least one of the following operations: - Reducing the feed rate of the mobile device (2) during the work cycle; - Increasing the cutting height; - Reducing the rotational speed of the payload (3), in particular the rotational speed of the cutting blade; - Stopping the payload (3).

[0202] In a 200th aspect according to one of the preceding aspects from 174, the docking station includes its own communication facilities, in particular wired or wireless communication facilities, which are functionally connected to the charging control unit, wherein the communication facilities of the docking station are configured to communicate with communication facilities of a remote device (100), for example a tablet, a smartphone, a server or a PC.

[0203] In a 201st aspect according to one of the preceding aspects from 174, the control unit (50) is configured to control the battery charging process depending on the following: - a predetermined or estimated time required for a full load; - a current time and a comparison of the same with at least one loading time window.

[0204] In a 202nd aspect according to one of the preceding aspects from 174, the system (40) comprises at least one user interface which is functionally connected to and configured with the control unit (50) to receive from a user at least one information element which is representative of the at least one loading time window.

[0205] In a 203rd aspect according to one of the preceding aspects from 174 onwards, the docking station (31) of the system is configured as follows: - Picking up the mobile device (2); - Enabling an electrical connection with the mobile device (2); - Recharging the on-board battery of the mobile device (2) within at least one charging time window.

[0206] In a 204th aspect according to one of the preceding aspects from 174, the mobile device (2) includes in particular the payload (3), the battery, a local control of the control unit (50), communication devices, motion devices for determining the feed within the work area (1) and optionally a user interface.

[0207] In a 205th aspect according to one of the preceding aspects from 174, the mobile device (2) is configured to communicate with a remote device comprising a remote control, communication devices configured to enable communication with the communication devices of the mobile device (2), and a user interface, in particular wherein the communication devices include a wireless connection, for example WiFi or Bluetooth, wherein the control unit (50) includes the local control unit and the remote control unit, and the remote device includes at least one smartphone, a tablet, and a computer.

[0208] A 205th aspect relates to a power supply system, encompassing: - the system according to one of the preceding aspects from 174 onwards; and - a local electricity grid, comprising at least one of: ◯ Solar panels, ◯ Wind generators.

[0209] In a 206th aspect according to the preceding aspect, the control unit (50) is configured as follows: - Received as input of a power index that is representative of electrical power that can be supplied by the local power grid depending on one or more time windows; and / or - Receiving from the local power grid at least one power signal that is representative of electrical power supplied by the local power grid during an operating state of the local power grid depending on one or more time windows.

[0210] In a 207th aspect following the two preceding aspects, the control unit (50) is further configured as follows: - Determine at least one time window for maximum performance depending on the performance index and / or the power signal; - Setting the minimum charging time window to the minimum charging time window for maximum charging power.

[0211] A 208th aspect relates to a method, optionally according to one of the foregoing aspects, for recharging by means of a docking station at least one rechargeable battery on board a mobile device (2) for land maintenance, in particular lawns or gardens or agricultural land.

[0212] In a 209th aspect according to the preceding aspect, the procedure comprises the following steps: - Receiving or setting at least one loading time window; - Enabling, in particular carrying out by means of the docking station, a charging process of the on-board battery of the mobile device (2) within at least one charging time window.

[0213] A 210th aspect relates to a system, optionally according to any of the preceding aspects, for land maintenance, in particular lawns or gardens or agricultural land, wherein the system comprises at least one mobile device (2) configured to perform maintenance operations within a work area (1) and a control unit (50) configured to perform at least one diagnostic monitoring procedure of the at least one mobile device (2), wherein the diagnostic monitoring procedure comprises the following steps: - Received from the mobile device (2) at least one diagnostic parameter that is representative of at least one service or operational status of the mobile device (2), - wireless transmission of at least one diagnostic parameter, in particular together with at least one identification parameter of the mobile device (2), to a remote infrastructure, - Comparing the diagnostic parameter with a respective predefined value or interval, - if at least one diagnostic parameter deviates from the predefined value or is outside the predefined interval, suggest to a user or, after confirmation by a user, execute at least one technical assistance program for the mobile device (2), optional, wherein the mobile device (2) comprises the following: - a self-driving lawnmower, especially a robotic lawnmower, or - a manually powered lawn mower, self-propelled or hand-driven, in particular a lawn tractor.

[0214] In a 211th aspect according to the preceding aspect, the mobile device (2) comprises first wireless communication facilities configured to transmit at least the diagnostic parameter over a distance, wherein the control unit (50) comprises a first controller (5) carried on board the mobile device (2) and configured to instruct the first communication facilities to wirelessly transmit the identification parameter and the diagnostic parameter to the at least one remote infrastructure.

[0215] In a 212 aspect according to one of the preceding aspects from 210, the first wireless communication equipment includes an Internet module configured to communicate with the remote infrastructure via an Internet network, in particular wherein the remote infrastructure is a remote server (200).

[0216] In a 213th aspect according to one of the preceding aspects from 210 onwards, the at least one remote infrastructure comprises a remote device (100) comprising: - second wireless communication devices (102) configured to connect functionally with the first communication devices of the mobile device (2), - a second control (105) of the control unit (50), which is directly carried by the remote device (100), - at least one user interface (101), comprising in particular a screen and configured to make at least one information element relating to the mobile device (2) clear, in particular to display at least one of the diagnostic parameter and the identification parameter on the screen, wherein the first controller (5) is configured to instruct the first communication devices to wirelessly transmit the identification parameter and / or the diagnostic parameter to the second communication devices of the remote device (100), optionally, wherein the first communication devices of the mobile device (2) and the second communication devices of the remote device (100) are configured to communicate with each other: - within a maximum radius of less than 100 m, in particular less than 50 m, but especially less than 25 m and / or - via a local communication network, in particular via radio frequency, especially according to a WiFi protocol or a Bluetooth protocol.

[0217] In a 214th aspect according to one of the preceding aspects from 210, the remote infrastructure comprises a remote server (200) and a remote service device (100a) that is separate from the remote device (100).

[0218] In a 215th aspect according to one of the preceding aspects from 210 onwards, the second communication devices (102) of the remote device (100) are configured as follows: - functional connection to the remote server (200) via a remote communication network, in particular an Internet network, and - -Sending the identification parameter and / or the diagnostic parameter of the mobile device (2) to the remote server (200) via the remote communication network.

[0219] In a 216th aspect according to any of the foregoing aspects from 210, the remote service device (100a) comprises the following: - a service control (105a), - a service user interface (101a) that is functionally connected to the service controller (105a) and includes a screen, - Service communication devices (102a) configured to communicate with the remote server (200) via the remote communication network, wherein the service controller (105a) is configured to clearly display at least one of the diagnostic and identification parameters on the service user interface (101a), in particular on the screen of the remote service device (100a).

[0220] In a 217th aspect according to one of the preceding aspects from 210 onwards, the remote server (200) is configured to enable communication, in particular bidirectional communication, between: - the remote device (100) and the remote service device (100a), wherein the remote server (200) is configured to send the identification parameter and / or the diagnostic parameter of the mobile device (2) to the remote service device (100a) and / or - the remote service device (100a) and the first communication facilities of the mobile device (2), wherein the first communication facilities of the mobile device (2) are configured to communicate with the remote server (200) via the remote communication network, optionally, the remote service device (100a) is configured as follows: - Receiving setup instructions via the service user interface (101a), wherein the setup instructions are representative of an installation procedure or installation steps of the mobile device (2) within the work area (1), - Sending the setup instructions to the mobile device (2) via the remote server (200) and optionally via the first and second communication devices of the mobile device (2) or the remote device (100).

[0221] In a 218th aspect according to one of the preceding aspects 210, the first communication facilities of the mobile device (2) are configured as follows: - Receiving the setup instructions, - Sending the setup instructions to the first control (5) of the mobile device (2), in particular to determine an installation of the mobile device (2) within the work area (1).

[0222] In a 219th aspect according to one of the preceding aspects from 210 onwards, the establishment instructions shall include at least one of the following: - a geographical definition of the work area (1) in which the mobile device is to perform care operations, in particular wherein the geographical definition includes GNSS coordinates, in particular GPS coordinates, which are representative of the work area (1) and / or a perimeter boundary of the work area (1); - a virtual map of the work area (1); - an area extent of the work area (1); - at least one technical information element relating to the on-board battery, in particular an energy capacity of the on-board battery; - a predefined height of the payload of the mobile device (1) in relation to the ground; - a reset of one or more counters of the mobile device (2) which are suitable for recording the operating time of one or more components of the mobile device (2) during an operating state; - a geographical position of a docking station (31) within the work area (1) configured to allow a charge level of the on-board battery of the mobile device (2).

[0223] In a 220th aspect according to one of the preceding aspects from 210 onwards, the diagnostic parameter includes at least one value which is in particular recorded or obtained or estimated in real time and is in particular representative of an operating state of an on-board battery of the mobile device (2) and / or of an operating time in respect of one or more components of the mobile device (2) and / or of a current consumption from the on-board battery in a predefined state and / or of the presence and / or occurrence of one or more failures of the mobile device (2).

[0224] In a 221st aspect according to any of the preceding aspects from 210 onwards, the predefined value or predefined interval includes at least one reference value of the diagnostic parameter that can be found under operating conditions of the mobile device (2) which are considered to be free from actual or incipient failures and / or malfunctions.

[0225] In a 222nd aspect according to one of the preceding aspects from 210 onwards, the predefined value is associated with at least one tolerance threshold value, and wherein the predefined interval is limited by at least one extreme value, wherein the tolerance threshold value and / or the extreme value are representative of operating conditions of the mobile device (2) which are considered to be limit operating conditions with respect to the presence and / or occurrence of one or more failures of the mobile device (2).

[0226] In a 223rd aspect according to one of the preceding aspects from 210 onwards, the identification parameter is representative of a type of mobile device (2) and / or of one or more components, in particular mechanical and / or electrical components, which are part of the mobile device (2).

[0227] In a 224th aspect according to one of the preceding aspects from 210 onwards, the identification parameter is a unique code or serial number that is representative of the mobile device (2) emitting the identification parameter.

[0228] In a 225th aspect according to one of the preceding aspects from 210 onwards, the remote infrastructure includes at least one storage device configured to store the following: - at least one of the predefined value and predefined interval and possibly the tolerance threshold and the extreme value and / or - at least one association rule between the diagnostic parameter and at least one technical aid program.

[0229] In a 226th aspect according to one of the preceding aspects from 210 onwards, the control unit (50) is configured to carry out, at least on the basis of the diagnostic parameter, a predictive diagnostic procedure suitable for defining a preventive technical assistance program for one or more components of the mobile device (2) and / or for planning a prospective technical assistance program for one or more components of the mobile device (2), in particular on the basis of the operating time of one or more components of the mobile device (2) and / or on the basis of data that are representative of a wear state of one or more components of the mobile device (2), and / or on the basis of an energy parameter that is representative of a current absorbed by the on-board battery under a predefined condition.in particular where a variation of the energy parameter outside an interval of expected values ​​is representative of an actual or incipient failure.

[0230] In a 227th aspect according to one of the preceding aspects from 210, the control unit (50) is configured to display on the user interface of the remote device (100) and / or the remote service device (100a) an estimated period of time within which one or more technical assistance measures are to be carried out for this mobile device (2).

[0231] In a 228th aspect according to one of the preceding aspects from 210 onwards, the technical assistance programme of the mobile device (2) comprises the following steps: - Identify, based on at least one diagnostic parameter, at least one component of the mobile device (2) in a state of actual failure or malfunction or susceptible to incipient failure or malfunction and - Performing a spare parts inventory management operation depending on this identification, wherein the management operation is in particular an automatic procurement of at least one component intended to be installed on the mobile device (2) to replace the component that has been identified as being in an actual failure or malfunction state or is susceptible to incipient failure or malfunction.

[0232] In a 229th aspect according to one of the preceding aspects from 210, the mobile device (2) comprises at least one detector for at least one parameter and / or index that is representative of the condition of the work area (1), in particular the health and / or moisture condition of the lawn of the work area (1), preferably a detector for a spectral parameter and / or index, such as the normalized difference vegetation index (NDVI) and / or the normalized difference red edge index (NDRE) and / or the water band index (WBl). wherein the control unit (50) is further configured as follows: - Receiving from the mobile device (2) the parameter and / or index that is representative of the state of the working area (1), - wireless transmission of the parameter and / or index that is representative of the state of the work area (1) to the remote infrastructure.

[0233] In a 230th aspect according to one of the preceding aspects from 210, the mobile device (2) comprises at least one position detector of the mobile device (2) in the work area, and the control unit (50) is further configured to associate the relative detected position with the at least one parameter and / or index that is representative of the state of the work area (1).

[0234] In a 231st aspect according to one of the preceding aspects from 210 onwards, the system is configured as follows: - Generating a virtual map of the condition of the work area (1), in particular the health and / or moisture condition of the turf of the work area (1), possibly together with one or more suggestions for improving the condition of the work area (1) or certain areas of the work area (1), in particular one or more suggestions for carrying out a mowing operation and / or water and / or fertilizer application operation, and - Make clear via the user interface (101) and / or via the service user interface (101a), in particular displays on the screen of the remote device (100) or the remote service device (100a), the virtual map of the state of the work area (1) and possibly one or more suggestions.

[0235] In a 232nd aspect according to one of the preceding aspects from 210 onwards, the control unit (50) is further configured as follows: - Generating at least one information element and / or at least one usage date of the mobile device (2), in particular with regard to the duration of use and / or the frequency of use and / or the usage time and / or the feed rate and / or the cutting height and / or the cutting mode and / or the energy consumption, - wireless transmission of the mobile device's (2) information and / or usage data to the remote infrastructure.

[0236] In a 233rd aspect according to one of the preceding aspects from 210, the system comprises a plurality of mobile devices, in particular at least 5 mobile devices, preferably at least 2 mobile devices, configured to perform maintenance operations within respective work areas, wherein the control unit (50) is configured to individually perform a diagnostic monitoring procedure for each mobile device of the plurality. optionally wherein the remote infrastructure considers a single remote server (200) and / or one or more remote service devices (100a), wherein the remote server is configured to receive the identification parameters and / or diagnostic parameters of each mobile device of the plurality via the remote communication network.

[0237] In a 234th aspect according to one of the preceding aspects from 210 onwards, the remote server (200) is further configured as follows: - Receiving, via the telecommunications network, the information and / or usage data of any mobile device of the multitude and - Generating information and / or statistical data relating to the use of mobile devices by the respective users and possibly information and / or historical data relating to the development of such information and / or statistical data over time.

[0238] A 235th aspect relates to a method, optionally according to one of the foregoing aspects, for diagnostically monitoring the at least one mobile device (2) for land maintenance, in particular lawns or gardens or agricultural land, comprising the following steps: - Received from the mobile device (2) at least one diagnostic parameter that is representative of at least one service or operational status of the mobile device (2), - wireless transmission of at least one diagnostic parameter, in particular together with at least one identification parameter of the mobile device (2), to a remote infrastructure, - Comparing the diagnostic parameter with a respective predefined value or interval, - if at least one diagnostic parameter deviates from the predefined value or is outside the predefined interval, suggest to a user or, after confirmation by a user, execute at least one technical assistance program for the mobile device (2). BRIEF DESCRIPTION OF THE DRAWINGS

[0239] Some embodiments and aspects of the invention are described below with reference to the accompanying drawings, which are for illustrative purposes only and are not limiting, in which: - Fig. 1 is a schematic view of a work area in which some land maintenance work has been carried out; - Fig. 2 is an exemplary representation of a user interface of the land maintenance system; - Fig. 3 is a schematic view of a remote device; - Fig. 4 is a schematic view of a work surface, comprising an electrical docking station for the on-board battery of the mobile device; - Fig. Figure 5 is an exemplary connection diagram between a mobile device and a remote infrastructure. DEFINITIONS AND CONVENTIONS

[0240] It should be noted that in this detailed description, corresponding parts illustrated in the various figures are identified by the same numerical references. The figures may illustrate the subject matter of the invention by means of representations not to scale; therefore, the parts and components illustrated in the figures that relate to the subject matter of the invention may refer exclusively to schematic representations. Control unit 50

[0241] The system described and claimed herein may comprise at least one control unit 50 responsible for controlling operating conditions implemented by a mobile device suitable for carrying out land maintenance work within a work area.

[0242] Depending on the choice of design and operational requirements, the control unit 50 can be a single unit or be composed of a large number of different control units 50.

[0243] The term control unit 50 refers to an electronic component that may include at least one of the following: a digital processor (CPU), an analog circuit, or a combination of one or more digital processors with one or more analog circuits. The control unit 50 may be "configured" or "programmed" to perform certain steps. In practice, this can be achieved by any means that allow the control unit 50 to be configured or programmed for this purpose. For example, in a control unit 50 comprising one or more CPUs and one or more memories, one or more programs may be stored in suitable memory banks connected to the CPU(s). The program(s) contain instructions that, when executed by the CPU(s), program or configure the control unit 50 to perform the operations described with respect to the control unit 50.Alternatively, if the control unit 50 is or includes an analog circuit, the circuit of the control unit 50 may be designed to include a circuit configured to process electrical signals in use so that the steps associated with the control unit 50 are performed.

[0244] The control unit 50 can have a sampling frequency between 0.1 Hz and 1000 Hz, in particular between 0.5 Hz and 100 Hz, and in particular between 1 Hz and 20 Hz.

[0245] The present disclosure refers to a system comprising a control unit 50 that is functionally connected to a mobile device. The term "functionally connected" means that the control unit actively interacts with the mobile device. However, this term does not necessarily mean that the control unit is physically located on the mobile device, but also includes an embodiment in which the control unit 50 is located outside the mobile device, for example, if the control unit 50 is carried by a remote device, such as a smartphone, a PC, a tablet, a server, or the like. The term "control unit" is thus to be understood broadly, and its physical position is not essential for the implementation of the present invention.

[0246] The present disclosure further relates to a first controller carried by the mobile device and a second controller carried by a remote device: In such a case, the first and second controllers are part of the control unit 50 and are physically positioned on the mobile device and the remote device, respectively. In other words, the first and second controllers 5, 105 define a subset of the control unit 50 and limit their position to the mobile device and the remote device, respectively. However, the technical characteristics of the first controller 5 and the second controller 105 are identical to those previously described with respect to the control unit 50. DETAILED DESCRIPTION Mobile device and work surface

[0247] The present disclosure relates to a mobile device 2 configured to move and perform maintenance work within a work area 1 of a property, such as a lawn, garden, or agricultural area, with an area between 100 and 10,000 square meters, particularly between 500 and 2,000 square meters. The maintenance work may include, for example, mowing the lawn, aerating the soil, or cultivating it. In particular, the mobile device may be, for example, a lawnmower, a scarifier, or a rotary tiller. However, these examples are not to be understood as limiting, since such maintenance work may also include further and other maintenance measures of the work area 1, while falling within the scope of the present invention.

[0248] At the in Fig. 1 and Fig. Figure 4 schematically depicts a mobile device 2 within a work area 1. This device can be manually driven or self-propelled. If manually driven, the mobile device is driven by a user. In this case, the mobile device may include motion devices for determining its forward movement, or it may be configured to be pushed by a user. If manually driven and including motion devices, the mobile device may be a tractor with a drive station configured to accommodate the user, who can then drive the tractor within the work area 1.Alternatively, if the mobile device is manually driven and does not include any moving parts, the mobile device has a size and mass that meets the user's need to be able to push it within the work area 1.

[0249] The motion devices can comprise one or more electric motors functionally connected to a control unit 50 and to at least one drive wheel of the mobile device to determine its feed motion. The electric motor h preferably has a rated power between 500 W and 6000 W, particularly between 700 W and 4500 W. Alternatively, the mobile device comprises an internal combustion engine, for example a gasoline or diesel engine, functionally connected to the motion devices to determine the movement of the mobile device.

[0250] The manually operated mobile device 2 preferably has a length between 50 cm and 300 cm, a width between 30 cm and 200 cm, and optionally a height between 10 cm and 150 cm. Alternatively, if the mobile device 2 is self-propelled, it includes the motion devices described above and is further configured to move autonomously within the work area 1 using one or more sensors for orientation and obstacle avoidance, as is generally accepted in the art. For example, the self-propelled mobile device 2 may include one or more proximity sensors and / or one or more position sensors configured to send signals to a control unit 50, which is configured to control the motion devices to move the mobile device 2 within the work area 1 to perform maintenance activities.

[0251] The mobile device of the present invention comprises at least one payload 3, for example a blade, a scarifier, or a rotary tiller, configured to perform maintenance work in the work area 1: an electric motor or an internal combustion engine, optionally the same engine as the means of transport, is configured to activate the payload 3. The control unit 50 is thus connected to the electric motor of the payload 3 and configured to command its activation. The mobile device provided with the payload 3 can therefore be a lawn mower, a scarifier, or a rotary tiller.

[0252] In one embodiment, the mobile device 2 comprises a single electric or internal combustion engine that is functionally connected to the payload 3 and the motion devices. Alternatively, the mobile device 2 can comprise an electric or internal combustion engine that is connected to the payload 3 and a further electric or internal combustion engine that is functionally connected to the motion devices.

[0253] In another embodiment, the mobile device 2 is an electrically operated device in which the movement devices and the payload 3 are driven by an electric motor powered by a built-in battery.

[0254] The self-propelled mobile device 2 preferably has a length between 50 cm and 300 cm, a width between 30 cm and 200 cm and optionally a height between 10 cm and 150 cm.

[0255] The onboard battery of the mobile device can be a rechargeable battery with a capacity between 2 Ah and 60 Ah. The battery can be configured to supply a voltage, preferably between 24 volts and 48 volts. More specifically, the battery can be configured to supply a current between 1 amp and 60 amps under normal operating conditions. The battery can be rechargeable via a standard household outlet, such as a 110V, 200V, or 380V power source.

[0256] The mobile device can carry a control unit 50 on board, in particular a first controller 5 configured to execute one or more commands according to the present invention. It should be noted that in the present description, when referring to a “control unit 50”, it may be arranged on board the mobile device 2 or may be carried by a remote device 100, such as a PC, a server, a tablet, or a smartphone, which is mounted in Fig. 3 schematically depicted and separated from the mobile device 2. In this description, the control unit 50, when arranged on board the mobile device 2, is referred to as the “first controller” or “local controller.” Alternatively, in this disclosure, when arranged on the remote device 100, the control unit 50 is referred to as a “second controller” or a “remote controller.” In an embodiment common to all embodiments of this disclosure, the control unit 50 can comprise both the first controller 5 on board the mobile device 2 and the second controller 105, which is arranged on the remote device 100. Thus, the operations commanded by the control unit 50 can be physically performed by the first controller 5 of the mobile device 2 and / or by the second controller 105 of the remote device 100. Completion of maintenance work in the work area System 10

[0257] A system 10 and a corresponding method for land maintenance, in particular of lawns or gardens or agricultural areas with an area between 100 square meters and 10,000 square meters, especially between 500 square meters and 2,000 square meters, are described below. The system comprises the mobile device 2 as described above, which operates within a work area 1. The mobile device further comprises the payload 3, which is configured to perform maintenance work within the work area 1. A complete execution of the maintenance work within the work area 1 defines a work cycle of the mobile device 2.If the maintenance work involves, for example, mowing the lawn, then the work cycle is defined as the series of tasks that a mobile device 2 must perform in order to complete the mowing of the lawn along the entire spatial extent of the work area 1.

[0258] Fig. Figure 1 shows schematically and not to scale the mobile device 2, which is positioned within a work area 1: In particular, the present disclosure relates to a mobile device 2 which is powered by an on-board battery and in which the system is configured to determine the proportion of work carried out in the work area and, depending on an estimated state of charge of the battery, to assess whether this state of charge is sufficient to complete the work cycle.

[0259] In particular, the present system includes the control unit 50, which is configured to receive input from a user and / or define a reference parameter. The reference parameter can be representative of a spatial extent of the work area 1 in which the mobile device must operate to perform the maintenance work. For example, the reference parameter can be a numerical value that defines the spatial extent of the work area 1, such as 100 square meters. In such a case, the work cycle thus comprises maintenance work along a total area of ​​100 square meters.

[0260] Alternatively or additionally, the reference parameter can be representative of a reference duration, defined as the time the mobile device 2 requires to complete the maintenance work within the work area 1. In such a case, the reference parameter can be a numerical value representative of such a duration, for example, a duration of 5 hours: This means that the mobile device 2 requires an average of approximately 5 hours to perform and complete the maintenance work within the work area. In such a case, the work cycle therefore consists of maintenance work with a total duration of 5 hours.

[0261] The system can include a position detector, in particular a global positioning system (GPS), which is functionally connected to and configured with the control unit 50 to transmit a position signal representative of the position of the mobile device 2 within the work area 1. The control unit 50 is thus configured to receive the position signal, determine the position of the mobile device 2 during an operating condition, and define the reference parameter and / or the work completion parameter depending on the position assumed by the mobile device 2 during an operating condition.

[0262] The control unit 50 can also be configured to define the reference parameter by performing a setup cycle of the mobile device 2 within the entire work area. This setup cycle precedes the work cycle and is suitable for simulating maintenance work within the work area 1. During the setup cycle, the control unit 50 is configured to determine the spatial extent of the work area 1 and / or to ascertain the reference time required to complete the maintenance work within the work area 1. In the latter case, the reference time essentially corresponds to the duration of the setup cycle.

[0263] During the setup cycle, the mobile device is moved within the work area to determine its dimensions using the information acquired by the position detector. In this context, the control unit 50 can be configured to receive multiple position signals during the setup cycle and determine the spatial extent of the work area 1 based on the number of position signals received. In other words, during the setup cycle, the mobile device 2 is moved within the work area to define its dimensions using the position information received from the position detector and processed by the control unit 50.

[0264] The setup cycle can include one movement step of the mobile device 2 to cover the entire extent of the work surface 1: In such a case, the mobile device 2 is moved across the entire work surface. Alternatively, the setup cycle can also include only one movement step of the mobile device 2 along a perimeter boundary of the work surface 1.

[0265] According to the present disclosure, the mobile device 2 can be a manually driven device or a self-propelled device. In the case of a manually driven device, the mobile device is driven by a user during the setup cycle and the work cycle. However, if the device is self-propelled, the mobile device 2 is configured to move autonomously within the work area using one or more sensors configured to orient and guide the mobile device.The device can be either self-propelled or manually driven and includes motion devices configured to determine a feed within the work area of ​​the mobile device 2. The motion devices can include one or more electric motors operatively connected to the control unit 50 and to at least one drive wheel of the mobile device to determine its feed motion. The electric motor of the motion devices preferably has a rated power between 500 W and 6000 W, particularly between 700 W and 4500 W. If the mobile device is manually driven and equipped with motion devices, the mobile device can be a tractor.Furthermore, the mobile device includes at least the payload 3, for example, a blade, a scarifier, or a rotary tiller, configured to perform maintenance work on the work area. An electric motor, or alternatively the same motor as the movement devices, is configured to activate the payload 3. The control unit 50 is thus connected to the electric motor of the payload 3 and configured to command its activation. According to an alternative or supplementary embodiment to the foregoing embodiment, the control unit 50 is configured to receive the reference parameter as input in the form of the spatial extent of the work area 1 and / or the reference time required by the mobile device to complete the work cycle.In such a case, a user can transmit the reference parameter to the control unit 50 via an interface, such as a user interface, specifying the spatial extent of the work area 1 and / or the reference duration, thus avoiding the need to perform a setup cycle. The reference parameter can also be defined in the form of geographic GPS coordinates representative of the work area, for example, to define a boundary of the work area. The control unit 50 is then configured to receive a virtual map defined by GPS coordinates that is representative of the work area and to estimate a spatial reference extent of the work area 1 based on these geographic coordinates.

[0266] The control unit 50 can also be configured to control the mobile device 2 so that it moves at a predetermined feed rate. This average rate can be varied by the control unit 50 itself, either at the user's command or during the work cycle. Consequently, varying the set speed of the mobile device determines a variation in the duration of the work cycle. In this context, the reference parameter, if defined as a reference duration, can be related to a reference rate parameter that is representative of an average feed rate assumed by the mobile device during the setup cycle, or representative of an average feed rate required to complete the maintenance work within the reference duration.The reference velocity parameter can be received as input or captured during the setup cycle.

[0267] The control unit 50 can also be configured to update the reference time duration for each work cycle performed by the mobile device 2 within the work area 1: In particular, the control unit 50 is configured to record and store the duration of a work cycle and to set the reference time duration of a subsequent work cycle equal to the duration recorded in the previous work cycle.

[0268] To detect the feed rate of the mobile device, it may include a speed detector, for example an encoder connected to a wheel of the mobile device or the GPS detector, which is configured to emit a signal representative of the feed rate of the mobile device 2: The control unit 50 is thus configured to receive the speed signal during the setup and / or operating cycle and to determine a corresponding reference speed value or parameter of the mobile device 2.

[0269] The control unit 50 is also configured to calculate a work completion parameter 11 during the work cycle, which is representative of the degree of completion of the work cycle in which the maintenance work was completed, as in Fig. Figure 1 is shown schematically. The work cycle proportion can be calculated in terms of the spatial extent 11 of the work area 1, for example, if the maintenance work was completed on 20 square meters of the total 100 square meters of work area 1, thus defining a work completion parameter corresponding to 20 square meters. Alternatively or additionally, the work cycle proportion can also be calculated in terms of time, for example, if the mobile device was in operation for 1 hour of the 5 hours required to complete the work, thus defining a work completion parameter corresponding to 1 hour. In other words, the work completion parameter represents the extent of the work performed by the mobile device within work area 1, in terms of spatial extent and / or time.

[0270] In an embodiment where the system includes the position detector, for example, the GPS sensor, the position detector is configured to transmit position signals that are representative of the position of the mobile device 2 within the work area 1 during an operating condition thereof, for example, during the work cycle. The control unit 50 is thus configured to receive the position signals during the work cycle, define incremental information with respect to a spatial part of the work area 1 in which the maintenance work has been completed, and calculate the work completion parameter depending on the incremental information.The incremental information includes the positions occupied by the mobile device during the work cycle in order to define the sections of the work area in which the mobile device performed the maintenance work, and accordingly to define the work completion parameter in terms of spatial extent.

[0271] Alternatively, the work completion parameter can be defined in the form of the elapsed working time from the start of the work cycle: The control unit 50 is thus configured to calculate the elapsed working time from the start of the work cycle.

[0272] Furthermore, the control unit 50 can be configured to calculate a work completion index as a percentage ratio of the work completion parameter to the reference parameter. For example, the work completion index can be calculated as a ratio of the elapsed working time to the reference duration, or as a ratio of the proportion of work area 1 in which maintenance work was completed to the spatial reference extent of work area 1. The work completion index can vary between a minimum value of zero, which represents a condition in which no maintenance work was carried out in the work area, and a maximum value of 1, which represents a condition in which maintenance work was completed in the entire work area.

[0273] The control unit 50 can further be configured to estimate a remaining work parameter 12 as a function of the work completion parameter and the reference parameter. This remaining work parameter is representative of the portion of the work cycle in which the maintenance work is not yet completed. The remaining work parameter can be defined as the difference between the reference parameter and the work completion parameter: for example, if the spatial reference extent of the work area is 100 square meters and the work progress parameter is 20 square meters, the remaining work parameter is 80 square meters. Similarly, in terms of time, the remaining work parameter is 4 hours if the reference duration is 5 hours and the work progress parameter is 1 hour.

[0274] In other words, the remaining work parameter can be defined in terms of remaining working time 13 or in terms of a remaining spatial extent 12 of the work area 1, which is representative of a spatial extent in which the maintenance work has not yet been completed, as in Fig. 1 and Fig. Figure 2 is shown schematically. The control unit 50 can thus be configured to calculate the remaining working time depending on the difference between the reference time duration and an elapsed working time, and / or to calculate the remaining spatial extent of the work area 1 depending on the difference between the spatial extent of the work area 1 and the completed spatial extent of the work area 1. In a specific case, the remaining working time corresponds to the difference between the reference time duration and an elapsed working time.

[0275] Furthermore, the control unit 50 can be configured to calculate the remaining working time depending on both the difference between the reference time duration and the elapsed working time and the remaining spatial extent of the work area 1: It should be noted that such a difference between the reference time duration and the elapsed working time and the remaining spatial extent are determined by the control unit 50 essentially simultaneously.

[0276] If the speed of the mobile device 2 determined during a work cycle differs from the reference speed parameter, the control unit 50 is further configured to calculate the remaining working time depending on the speed parameter of the mobile device 2 determined during the work cycle and the reference speed value or speed parameter. In particular, the control unit 50 is configured to calculate the remaining working time depending on a difference between the speed parameter of the mobile device 2 recorded during the work cycle and the reference speed parameter.

[0277] Specifically, the control unit 50 is configured to compare the speed of the mobile device 2 detected during the work cycle with the reference speed and, depending on the result of this comparison: - if the speed of the mobile device 2 recorded during the work cycle is essentially equal to the reference speed value, to calculate the remaining working time as the difference between the reference time duration and an elapsed working time; - if the speed of the mobile device 2 recorded during the work cycle is higher than the reference speed, the remaining working time is to be calculated as the difference between the reference time duration and an elapsed working time, the difference being multiplied by a coefficient <1 which is inversely proportional to this difference; - if the speed of the mobile device 2 recorded during the work cycle is lower than the reference speed, the remaining working time is to be calculated as the difference between the reference time duration and an elapsed working time, the difference being multiplied by a coefficient >1 that is proportional to this difference.

[0278] The mobile device 2 of system 10 is powered by an onboard battery configured to power, in particular, the payload 3 and / or the propulsion devices of the mobile device. The onboard battery of the mobile device is a rechargeable battery with a charging capacity preferably between 2 Ah and 60 Ah. In particular, the control unit 50 is configured to receive an input or to autonomously detect such a charging capacity of the onboard battery.

[0279] The control unit 50 is connected to the on-board battery and configured to estimate a state of charge representative of the remaining charge of the on-board battery and, depending on the reference parameter, the work completion parameter, and the state of charge, to determine whether such a state of charge is sufficient to complete the work cycle. For example, if the reference parameter and the work completion parameter are defined as spatial extent, the control unit 50 is configured, with a spatial reference extent of 100 square meters and a work completion parameter of 20 square meters, to estimate whether the battery's state of charge is sufficient to provide maintenance work on the remaining 80 square meters of the work area.

[0280] Furthermore, the step of determining whether the estimated state of charge is sufficient to complete the work cycle can be performed depending on the remaining operating parameter. The control unit 50 can also be configured to determine an operating parameter of the mobile device 2 that is representative of a workload. The workload can, for example, be representative of the energy consumption of the battery by the mobile device 2. Alternatively, the operating parameter can include an instantaneous speed of the mobile device 2, an average speed of the mobile device 2, a current consumption from the battery of the mobile device 2, or a cutting height defined by the distance of the payload 3 from the ground.

[0281] The operating parameter affects the battery's operating time: for example, the higher the energy consumption, the shorter the battery's operating time. Energy consumption is proportional to the feed rate of the mobile device and / or the rotational speed of the payload 3. Furthermore, the cutting height also affects the battery's energy consumption: a reduction in cutting height leads to an increase in energy consumption under the same working surface conditions, as it represents a greater load-bearing capacity for the payload of the mobile device 2.

[0282] The step of determining whether the estimated state of charge is sufficient to complete the work cycle can therefore be carried out depending on the operating parameter, for example according to the average speed of the mobile device 2, which is maintained during the work cycle.

[0283] The mobile device 2 can further include a ground slope detector configured to emit a signal representative of a ground slope in the work area 1. The control unit 50 is thus configured to receive the signal and determine a slope value of the ground. The control unit 50 can be configured to determine the operating parameter depending on such a slope value. For example, if the mobile device is equipped with movement devices, the workload can be affected by whether the mobile device is traveling uphill or downhill.

[0284] The control unit 50 can also be configured to determine a remaining battery life 14 depending on the state of charge, as in Fig. Figure 2 shows a schematic representation on a user interface display. In particular, the control unit 50 can be configured to determine the remaining battery life depending on the state of charge and the operating parameters. The remaining battery life 14 is representative of the remaining battery operating time for carrying out maintenance work. In other words, the operation of the mobile device is ensured for a period equal to the remaining battery life: After such a period, the battery is to be considered discharged and has an insufficient remaining charge to determine the feed and / or the operation of the payload 3.

[0285] The control unit 50 can determine whether the estimated state of charge is sufficient to complete the duty cycle by performing a comparison step between the remaining battery life and the remaining working time, or by allowing a user to perform such a comparison.

[0286] The control unit is thus configured to verify the following conditions to determine whether the estimated state of charge is sufficient to complete the duty cycle: - If the remaining battery life is greater than the remaining working time, the estimated state of charge is sufficient to complete the work cycle; - If the remaining battery life is less than the remaining working time, the estimated state of charge is insufficient to complete the work cycle.

[0287] Furthermore, the control unit 50 is configured to activate at least one corrective action, or to suggest activation to a user, if the battery charge level is deemed insufficient to complete the duty cycle, particularly if the remaining battery life is less than the remaining working time. The corrective action may include instructing the mobile device 2 to return to a docking station and, optionally, activating a power-saving mode for the mobile device 2. Alternatively, the corrective action may simply involve activating the power-saving mode.In one embodiment, the control unit 50 is configured to execute the corrective action automatically; alternatively, the control unit 50 is configured to suggest to a user that the corrective action be manually activated or executed; in the latter case, the corrective action is subject to approval or manual operation by the user.

[0288] The energy-saving mode can include at least one of the following: reducing the feed rate of the mobile device 2 during the work cycle, increasing the cutting height of the payload 3, reducing the rotational speed of the payload 3, or stopping the payload 3. In other words, the energy-saving mode aims to reduce the energy consumption from the battery by the device so that the mobile device can return to a docking station.

[0289] In this context, the system of the present invention can include the docking station, which is configured to connect electrically to the mobile device and supply power to the on-board battery to enable its charging. The power station can itself be powered via a household electrical grid, for example, a 110V, 220V, or 380V grid. The docking station can have a power supply capacity of between 2 Ah and 20 Ah.

[0290] The control unit 50 can also be configured to define a battery consumption reference index that is representative of the battery energy consumption required to complete the duty cycle or setup cycle. In such a case, the battery consumption reference index defines qualitatively or quantitatively how much energy is consumed to perform an entire duty cycle or setup cycle. The battery consumption reference index can be defined by the setup cycle or during the duty cycle. In particular, the control unit 50 can be configured to save and update the battery consumption reference index at each new duty cycle, for example, by overwriting it.Updating the battery consumption index with each cycle makes it possible to take into account any variations in the battery consumption reference index, which may be caused, for example, by a deterioration in battery performance, the conditions of the work area, or environmental conditions such as temperature and humidity.

[0291] Alternatively, the reference index can be representative of a remaining battery life measured at the end of the work cycle or setup cycle: In this case, the battery consumption reference index defines qualitatively or quantitatively how long the battery could still supply the mobile device with power to carry out the maintenance work.

[0292] The battery consumption reference index can be very useful, as it expresses the battery's potential to power the mobile device during its duty cycle. In particular, it is important to note that the step of determining whether the estimated state of charge is sufficient to complete the duty cycle can be performed based on the battery consumption reference index.

[0293] The system may also include a user interface, which includes a display, for example a touchscreen, and is functionally connected to the control unit 50: The control unit 50 is thus configured to display one or more pieces of information on the screen relating to the mobile device, the work cycle, the setup cycle and / or to receive one or more inputs from a user.

[0294] The control unit 50 can be configured to display at least one of the following on the screen: - the reference parameter, for example the reference time duration and / or the spatial extent of the work area 1; - the work completion parameter, for example the completed portion of work area 1 and / or the elapsed working time; - the job completion rate; - the remaining work parameter, for example the remaining proportion of work area 1 and / or the remaining working time; - the charge level of the on-board battery; - the remaining operating time of the battery.

[0295] Furthermore, the control unit 50 can be configured to display an alarm signal on the screen according to the result of the comparison between the remaining battery operating time and the remaining working time: for example, if the remaining working time is greater than the remaining battery operating time, the control unit 50 is configured to display an alarm signal on the screen.

[0296] The user interface can also be used to request user confirmation to activate power saving mode.

[0297] It should be noted that the user interface can be carried by the mobile device 2 or by a remote device 100, which is located in Fig. Figure 3 is shown only as an example, as described below. The remote device 100 can be, for example, a PC, a smartphone, a tablet, or a remote server.

[0298] The mobile device 2 can also include first communication devices configured to wirelessly connect functionally with one or more remote devices. The remote device can, in turn, include second communication devices 102. The first and second communication devices 102 can define a wireless connection, for example, of the WiFi or Bluetooth type. The communication devices are configured to remotely transmit and / or receive one or more of the parameters and information acquired by the mobile device 2, such as the reference parameter, the work completion parameter, the work completion rate, the remaining work parameter, the state of charge of the on-board battery, and the remaining operating time of the battery, particularly to the remote device.Similarly, the communication devices can enable the reference parameter to be transmitted as input from the remote device to the mobile device 2, for example the reference time duration and / or the spatial extent of the work area 1 by means of the user interface, the latter being carried by the mobile device or by the remote device.

[0299] In its initial configuration, the system includes the mobile device 2, which carries the payload 3, the first controller 5 of the control unit 50, the onboard battery, and the user interface. Optionally, the mobile device can also include the position detector and the motion devices.

[0300] According to a second configuration, the system includes the mobile device 2, which carries the payload 3, the onboard battery, a first controller 5 of the control unit 50, and the first communication devices. Optionally, the mobile device 2 can also carry the motion devices and the user interface. According to the second configuration, the mobile device 2 is configured to connect to a remote device 100, which includes the second controller 105 of the control unit 50 and in which the second communication devices 102 of the remote device 100 are configured to enable communication with the first communication devices of the mobile device 2. The remote device 100 can further include the position detector.The first controller 5 of the mobile device 2 can be configured to perform at least one of the steps described above: in particular, the first controller 5 can be configured to command at least one of the first communication devices, motion devices and payload 3 of the mobile device.

[0301] According to the second configuration, and in particular when the remote device 100 includes the position detector, the mobile device 2 includes a holder configured to accommodate the remote device 100 during the work cycle or the setup cycle. The control unit 50 is thus configured to receive the position signal emitted by the position detector of the remote device, assuming that the position detected by the remote device's position detector corresponds to the position of the mobile device 2 when the remote device is held in the holder of the mobile device.

[0302] In the second configuration of the system, the remote device is positioned in the holder of the mobile device 2 during the work cycle and / or during the setup cycle, so that the position detector of the remote device provides a position similar to the position of the mobile device 2.

[0303] Furthermore, the second controller 105 of the remote device can be configured to receive or define the reference parameter, calculate the work completion parameter, estimate the state of charge of the on-board battery of the mobile device, and determine, at least depending on the reference parameter, the work completion parameter, and the state of charge, whether the estimated state of charge is sufficient to complete the work cycle.

[0304] The remote device 100 can further be configured to connect to an internet network and, optionally, to a remote server via the second communication devices 102. In particular, the second controller 105 of the remote device can be configured to remotely transmit, for example, using an internet network, the reference parameter, the work completion parameter, and the charge level. Furthermore, the second controller 105 of the remote device can be configured to remotely transmit, for example, to a remote server 200 using an internet network, one or more of the parameters described above, such as the remaining work parameter in the form of the remaining working time and / or the remaining proportion of the work area. Proceedings

[0305] The present invention further comprises a method for maintaining land, in particular lawns or gardens or agricultural land, by means of a maintenance system, preferably of the type described above.

[0306] The procedure includes at least the following steps: - Receiving and / or defining a reference parameter, wherein the reference parameter is representative of a spatial extent of the work area 1 and / or of a reference time period required to complete the maintenance work within the work area 1; - Calculate, during the work cycle, a work completion parameter that is representative of the degree of completion of the work cycle; - Estimating a charge level that is representative of the remaining charge of the on-board battery; - Determine, depending on the reference parameter, the work completion parameter and the state of charge, whether the estimated state of charge is sufficient to complete the work cycle.

[0307] The method can further include a step of moving the mobile device 2 within the entire work area 1 during a setup cycle to determine the reference parameter. The setup cycle, already described according to the system of the present invention, is performed before the work cycle and is suitable for simulating the maintenance work within the work area 1. The method associated with the setup cycle comprises the steps of determining the spatial extent of the work area 1 and / or determining the reference time required to complete the maintenance work within the work area 1. In particular, the setup cycle includes the steps of moving the mobile device 2 within the work area along paths suitable for covering the entire extent of the work area 1 or along a circumferential boundary of the work area 1.

[0308] If the system includes the position detector, for example, if the detector is carried by the mobile device 2 or by the remote device, the setup cycle comprises the steps of acquiring incremental information about the position of the mobile device 2 within the work area 1 using the position detector and calculating the extent of the work area 1 based on the incremental information about the position of the mobile device 2 during the setup cycle. If the position detector is carried by the mobile device, the procedure includes picking up the remote device in the holder of the mobile device or holding the remote device near the mobile device.

[0309] In another embodiment, the method includes a step of receiving the reference parameter upon input, for example via a user interface carried by the mobile device or the remote device.

[0310] The present procedure further includes the steps carried out by the control unit 50, as described above and related to system 10. OPERATIONAL EFFICIENCY INDEX

[0311] The present disclosure further relates to a system for the maintenance of land 20, which is configured to determine an operating efficiency index 21 relating to the maintenance work carried out by the mobile device within the work area 1. In particular, the present description relating to obtaining the operating efficiency index according to the foregoing description relating to the system 10 for the completion of the maintenance work in the work area 1.

[0312] The present system comprises the previously described mobile device 2, which is configured to operate within the work area 1, wherein the mobile device includes the payload 3, which is configured to perform the maintenance work within the work area 1. The mobile device 2 may include at least one electric motor, which is functionally connected to the payload 3 and configured to be powered by an electrical energy source.

[0313] Optionally, the mobile device can also include the motion devices, which are functionally connected to a corresponding electric motor, the latter being powered by the electrical energy source. In particular, the electric motor of the feed devices can be separate from and distinct from the electric motor of the payload 3. The mobile device can thus include both the payload 3 and the electrically operated motion devices, especially if both are powered by the same electrical energy source. Alternatively, the mobile device can include a motor that is connected or connectable to both the feed devices and the payload 3.

[0314] The source of electrical energy is preferably the on-board battery described above, which is carried by the mobile device 2 and is functionally connected to the electric motor of the payload 3 and optionally to the electric motor of the motion devices: In one embodiment, the battery is configured to supply power to both the payload 3 and the motion devices.

[0315] According to an alternative embodiment, the mobile device may include an internal combustion engine, for example a diesel, gasoline, or natural gas / liquefied petroleum gas engine, which is functionally connected to at least the payload 3 of the mobile device. Furthermore, the internal combustion engine may be functionally connected to and configured with the motion devices to enable the movement of the mobile device within the work area 1. The internal combustion engine may be connected to both the motion devices and the payload 3 by means of belts, chains, or gears.

[0316] During the work cycle, the mobile device may be exposed to different working conditions, depending, for example, on the nature of the soil or lawn, the slope of the ground, the height of the lawn, or the cutting height set during maintenance work: The working conditions can vary depending on the height of the lawn, which leads to a resistance load, for example, a section moment or a resistance force, for the payload 3 of the mobile device, with this resistance load increasing with increasing height of the lawn.It should be noted that an increase in the resistance torque or resistance force exerted on the payload 3 may result in increased current consumption, an increase in the operating temperatures of the electric or combustion engine connected to the payload 3, and a decrease in the rotational speed of the payload 3: This may cause a reduction in the service life of the electric or combustion engine and / or a reduction in the charging time of the on-board battery.Furthermore, excessive terrain gradient can affect the operating conditions of the mobile device: For example, a slope of the terrain can lead to an increase in energy consumption, particularly current consumption, by the electric motor of the movement devices and / or a reduction in the forward speed of the mobile device due to increased resistance: This can result in a reduction in the service life of the electric motor and / or a reduction in the charging time of the on-board battery.

[0317] It is therefore important to determine an operating efficiency index of the mobile device with respect to maintenance work. For this purpose, the mobile device includes the control unit 50, which is configured to acquire at least one operating parameter from the group consisting of a current or power input of the mobile device, a rotational speed of the payload 3, a feed rate of the mobile device 2, a temporal variation of the rotational speed of the payload 3, and a temporal variation of the feed rate of the mobile device 2. The temporal variation of the rotational speed or the feed rate can be acquired over a predetermined or infinitesimal time interval. It should be noted that the current or power input can originate from the electric motor of the payload 3, from the electric motor of the feed mechanism, or from both.

[0318] The control unit 50 is further configured to define an operating index based on at least one of the aforementioned operating parameters or a combination thereof, and, depending on this operating index, to determine the operating efficiency index of the mobile device 2 with regard to maintenance work. The operating efficiency index 21 is in Fig. 2 shown schematically in a representation on a screen of a user interface.

[0319] The operating index can include at least one of a current absorbed by the payload 3, a current absorbed by the payload 3 in combination with a supply voltage of the payload 3, a current absorbed by the payload 3 in combination with a corresponding rotational speed of the payload 3, a current absorbed by the payload 3 in combination with a corresponding feed rate of the mobile device, a rotational speed of the payload 3 in combination with a feed rate of the mobile device 2, a combination of a current absorbed by the payload 3, a rotational speed of the payload 3 and a feed rate of the mobile device 2, a combination of a current absorbed by the payload 3, a rotational speed of the payload 3, a feed rate of the mobile device 2 and a supply voltage of the payload 3.In other words, the operating index is representative of a resistance load acting on the mobile device and / or on the payload 3 of the mobile device 2.

[0320] In one embodiment, the operating efficiency index comprises a combination of the current or power consumed by the payload 3, the rotational speed of the payload 3, and the feed rate of the mobile device 2. In particular, in such a case, the control unit 50 is configured to determine the operating efficiency index as a function of such a combination of operating parameters. In another embodiment, the control unit 50 is configured to determine the operating efficiency index solely as a function of the rotational speed of the payload 3 and its comparison with a corresponding threshold value, as described below.

[0321] It should be noted that the control unit 50 can be configured to define the operating index and consequently the operating efficiency index depending on a single operating parameter, for example, only the current or power drawn by the electric motor of the payload 3, or the rotational speed of the payload 3 or a variation thereof, or the feed rate of the mobile device 2. Alternatively, the control unit 50 can be configured to define the operating index and consequently the operating efficiency index depending on a combination of operating parameters of the mobile device.

[0322] As mentioned above, the cutting height of a lawnmower influences the resistive load acting on the payload 3, for example the cutting blade, during an operating condition of the mobile device, and can also affect the current drawn by the electric motor of the payload 3. In this respect, the control unit 50 can be configured to receive or detect a height, in particular a distance, of the payload 3 relative to the ground as input and to define the operating index depending on this height and one or more of the operating parameters introduced above.

[0323] Similarly, a ground slope can also influence the energy consumption by the electric motor of the motion devices: The control unit 50 is thus configured to receive or detect a ground slope at the position of the mobile device 2 as input and to define the operating index depending on the ground slope and one or more of the operating parameters introduced above.

[0324] To detect the absorbed current or power, the mobile device may include a current or power detector that is functionally connected to the control unit 50 and configured to emit a signal representative of an electrical current or power absorbed by the electric motor of the payload 3 or by the electric motor of the feed devices.

[0325] To detect the feed rate of the mobile device, the mobile device may include a speed detector, for example an encoder or a GPS detector, which is functionally connected to the control unit 50.

[0326] To detect the rotational speed of the payload 3, the mobile device may include a rotational speed detector, for example an encoder, which is directly connected to the payload 3 or to the electric or internal combustion engine of the payload 3. For example, an increase in an operating efficiency index value may correspond to a decrease in the current or power consumed by the electric motor of the payload 3 and / or the electric motor of the propulsion devices. Similarly, an increase in an operating efficiency index value may correspond to a decrease in the fuel consumption of the internal combustion engine.

[0327] The following describes some embodiments with regard to determining the operational efficiency index.

[0328] In a first embodiment, the control unit 50 is configured to determine the operating efficiency index as a function of the rotational speed of the payload 3: In particular, in such an embodiment, the control unit 50 is configured to determine the operating efficiency index solely as a function of the rotational speed of the payload 3 and a comparison of the same with a threshold value for the rotational speed.

[0329] The mobile device 2 according to the first embodiment comprises the payload 3 rotational speed detector, which is functionally connected to the control unit 50. In the first embodiment, the control unit 50 is configured to define at least one threshold value for the payload 3 rotational speed and to determine an operating rotational speed of the payload 3 of the mobile device 2 under a specific operating condition using the rotational speed detector. Under this operating condition, the payload 3 is active and the mobile device 2 is performing maintenance work within the work area 1. For example, under this operating condition, the mobile device 2 moves within the work area 1 and mows the lawn.Under operating conditions, the payload 3 of the mobile device is thus subjected to a resistance load, in particular a resistance force or a resistance moment, which results from maintenance work, for example from mowing the lawn.

[0330] In the first embodiment, the control unit 50 is configured to compare the operating rotational speed of the payload 3 with the threshold rotational speed of the payload 3 and to define the operating efficiency index of the mobile device 2 depending on this comparison. The operating efficiency index can be defined depending on the following conditions: - if the operating rotation speed of payload 3 is higher than the threshold for the rotation speed of payload 3, the control unit 50 is configured to define an initial operating efficiency index of the mobile device; - if the operating rotation speed of payload 3 is lower than the threshold for the rotation speed of payload 3, the control unit 50 is configured to define a second operating efficiency index of mobile device 2: It should be noted that the second operating efficiency index of mobile device 2 is lower than the first operating efficiency index of mobile device 2.

[0331] It should be noted in particular that a lower value of the operating efficiency index may correspond to higher electricity or fuel consumption of the engine, poorer performance of the engine itself and, where applicable, lower quality in connection with land maintenance work.

[0332] The control unit 50 can further be configured to determine a nominal rotational speed of the payload 3 of the mobile device 2 in a free condition, either by means of the rotational speed detector or by receiving input from a user, for example via a user interface. The free condition can be defined as a condition in which the payload 3 is active and the mobile device is not performing any maintenance work within the work area 1. Therefore, in the free condition, the payload 3 of the mobile device, for example the rotating blade, rotates without any resistance force or moment of resistance resulting from the maintenance work, such as mowing the lawn. The nominal speed of the payload 3 is thus essentially a constant and predefined value dependent on the supply voltage or the current of the electric motor.Similarly, if the mobile device is equipped with an internal combustion engine, the nominal rotational speed of the payload 3 is defined by the internal combustion engine under the condition that the payload 3 does not encounter any resistance force or moment of resistance resulting from maintenance work. In other words, the nominal rotational speed of the payload 3 is a standard preset operating speed that is achieved when the payload 3 is free from any resistance force or moment of resistance resulting from maintenance work.If the payload 3 is subjected to a resistive load, such as that resulting from a cutting process with a rotating blade, the operating rotational speed of the payload 3 may be reduced compared to the nominal rotational speed, or the electric motor may need to draw more power to maintain an operating speed equal to the nominal speed in order to compensate for the increase in the resistive load acting on the payload 3.

[0333] The control unit 50 can further be configured to define the threshold for the rotational speed of the payload 3 as a predetermined fraction of the nominal rotational speed of the payload 3 of the mobile device 2 under free conditions. In other words, the threshold for the rotational speed of the payload 3 is defined as dependent on the nominal rotational speed of the payload 3. The threshold for the rotational speed of the payload 3 is lower than the nominal rotational speed of the payload 3. In particular, the threshold for the rotational speed of the payload 3 can be between 3% and 20% lower than the nominal rotational speed of the payload 3, and more specifically, between 5% and 15% lower.

[0334] More precisely, the threshold for the rotational speed of the payload 3 can comprise at least a first and a second threshold for the rotational speed of the payload 3, wherein the first threshold for the rotational speed of the payload 3 is between 3% and 9%, in particular between 5% and 8%, preferably between 6% and 7%, lower than the nominal rotational speed of the payload 3, and the second threshold for the rotational speed of the payload 3 is between 10% and 20%, in particular between 11% and 15%, preferably between 13% and 14%, lower than the nominal rotational speed of the payload 3. In other words, the second threshold for the rotational speed is lower than the first threshold for the rotational speed.

[0335] The control unit 50 is thus configured to compare the operating rotation speed of the payload 3 with the first and second threshold values ​​of the rotation speed of the payload 3 and to define the operating efficiency index of the mobile device 2 depending on this comparison. In particular, the control unit 50 is configured to define the operating efficiency index of the mobile device according to the following conditions: - if the operating rotation speed of the payload 3 is higher than the first threshold for the rotation speed of the payload 3, the control unit 50 is configured to define a first operating efficiency index of the mobile device 2; - if the operating rotation speed of the payload 3 is lower than the first rotation speed threshold and higher than the second rotation speed threshold, the control unit 50 is configured to define a second operating efficiency index of the mobile device 2: in such a case, this second operating efficiency index of the mobile device 2 is lower than the first operating efficiency index of the mobile device 2; - if the operating rotation speed of the payload 3 is lower than the first and second rotation speed thresholds, the control unit 50 is configured to define a third operating efficiency index of the mobile device 2: this third operating efficiency index of the mobile device 2 is lower than the second operating efficiency index of the mobile device 2.

[0336] A decrease in the operating efficiency index can lead to a deterioration of the operating conditions of the mobile device, an increase in electricity or fuel consumption, and a reduction in the service life of components associated with the payload 3 or the means of propulsion, such as the electric motor or the internal combustion engine. It should be noted that the operating efficiency index of the mobile device 2 decreases with decreasing operating rotation speed.

[0337] The operating efficiency index can also be determined according to a second embodiment, which is described below. In particular, in the second embodiment, the mobile device comprises at least one electric motor connected to the payload 3 and / or the motion devices and powered by the source of electrical energy, for example, the on-board battery: The mobile device may comprise an electric motor connected to the payload 3 and another electric motor connected to the motion devices.The control unit 50 is thus configured to determine the operating efficiency index depending on the electrical current or electrical power consumed by the electric motor of the payload 3 and / or the motion devices: In particular, the control unit 50 can be configured in such a second embodiment to determine the operating efficiency index only depending on the electrical current or electrical power consumed during an operating condition of the mobile device and a comparison thereof with a threshold value for the electrical current or electrical power.

[0338] To detect the current or electrical power consumed, the mobile device includes at least one detector for the current or electrical power consumed by the mobile device, or in particular only by the electric motor of the payload 3 of the mobile device. The detector for the electrical current or electrical power is functionally connected to the control unit 50.

[0339] The control unit 50 is thus configured to define at least one threshold value for the electric current or electric power and to determine an operating electric current or electric power in an operating condition of the mobile device by means of the electric current or electric power detector: The operating condition is the same as described above with respect to the first embodiment and is defined as a condition in which the payload 3 is active and in which the mobile device 2 performs the maintenance work within the work area 1.

[0340] The control unit 50 is further configured to compare the electrical operating current or electrical operating power with the threshold value for the electrical current or electrical power of the payload 3 and to define the operating efficiency index of the mobile device 2 depending on this comparison. In particular, the operating efficiency index is defined depending on the following conditions: - if the electrical operating current or electrical operating power is lower than the threshold value for electrical current or electrical power, the control unit 50 is configured to define an initial operating efficiency index of the mobile device 2; - if the electrical operating current or electrical operating power of the payload 3 is higher than the threshold for the electrical current or electrical power of the payload 3, the control unit 50 is configured to define a second operating efficiency index of the mobile device 2: the second operating efficiency index of the mobile device 2 is lower than the first operating efficiency index of the mobile device 2.

[0341] The threshold for the electric current or electrical power can be defined depending on a rated electric current or rated electrical power. In particular, the control unit 50 is configured to determine, by means of the electric current or electrical power detector or by receiving input from a user via a user interface, a rated electric current or rated electrical power that is drawn by the electric motor of the payload 3 and / or the motion devices in a free condition: The free condition is the same as described above with respect to the first embodiment, in which the payload 3 is active and the mobile device is not performing any maintenance work within the work area 1.The control unit 50 is thus configured to define the threshold value for the electrical current or electrical power depending on the rated electrical current or electrical power, where the threshold value for the electrical current or electrical power is higher than the rated electrical current or electrical power. More precisely, the threshold value for the electrical current or electrical power is between 3% and 20% higher than the rated electrical current or electrical power, in particular between 5% and 15% higher.

[0342] The threshold for the electric current or electrical power can comprise at least a first and a second threshold for the electric current or electrical power, wherein the first threshold for the electric current or electrical power is between 3% and 9%, in particular between 5% and 8%, preferably between 6% and 7% higher than the rated electric current or electrical power of the payload 3, while the second threshold for the electric current or electrical power is between 10% and 20%, in particular between 11% and 15%, preferably between 13% and 14% higher than the rated electric current or electrical power. Generally, the second threshold for the electric current or electrical power is higher than the first threshold for the electric current or electrical power.

[0343] The control unit 50 can thus be configured to compare the electrical operating current or electrical operating power with the first and second threshold values ​​for electrical current or electrical power and to define the operating efficiency index of the mobile device 2 depending on this comparison. In particular, the operating efficiency index can be defined depending on the following conditions: - if the electrical operating current or electrical operating power is lower than the first threshold for the electrical current or electrical power of the payload 3, the control unit 50 is configured to define a first operating efficiency index of the mobile device 2; - if the electrical operating current or electrical operating power is higher than the first threshold for electrical current or electrical power and lower than the second threshold for electrical current or electrical power, the control unit 50 is configured to define a second operating efficiency index of the mobile device 2: in such a case, the second operating efficiency index of the mobile device 2 is lower than the first operating efficiency index of the mobile device 2; - if the electrical operating current or electrical operating power is higher than the first and second threshold values ​​for electrical current or electrical power, the control unit 50 is configured to define a third operating efficiency index of mobile device 2: in such a case, the third operating efficiency index of mobile device 2 is lower than the second operating efficiency index of mobile device 2.

[0344] In other words, the operating efficiency index of mobile device 2 decreases when the electrical current or power consumed increases.

[0345] The operating efficiency index can also be determined according to a third embodiment, which is described below. In particular, in the third embodiment, the mobile device comprises at least one electric motor connected to the payload 3 and / or the motion devices and powered by the source of electrical energy, for example, the on-board battery: The mobile device may comprise an electric motor connected to the payload 3 and another electric motor connected to the motion devices.

[0346] To detect the current or electrical power consumed, the mobile device includes at least one detector for the current or electrical power consumed by the mobile device, or in particular only by the electric motor of the payload 3 of the mobile device. The detector for the electrical current or electrical power is functionally connected to the control unit 50.

[0347] The mobile device 2 according to the third embodiment further comprises the detector for the rotational speed of the payload 3, which is functionally connected to the control unit 50. The control unit (50) is thus configured as follows: - Define at least one threshold value for the electric current or electrical power and at least one threshold value for the rotational speed of the payload 3; - Determine, by means of the current or power detector, an electrical operating current or electrical operating power in an operating condition of the mobile device 2: The operating condition is the same as described in relation to the first and / or the second embodiment, in which the payload 3 is active and the mobile device 2 performs maintenance work within the work area 1, - Determining, using the detector for the rotational speed, an operating rotational speed of the payload 3 of the mobile device 2 in such an operating condition, - Compare: ◯ the electrical operating power or electrical operating current with the threshold value for the electrical operating current; and ◯ the operating rotational speed of payload 3 with the threshold value of the rotational speed of payload 3; - Defining the operating efficiency index of mobile device 2 depending on this comparison.

[0348] The operational efficiency index can therefore be defined depending on the following conditions: - if the electrical operating current or electrical operating power is lower than the threshold for electrical current or electrical power, and if the operating rotational speed of the payload 3 is higher than the threshold for the rotational speed of the payload 3, the control unit 50 is configured to define a first operating efficiency index of the mobile device 2; - if the electrical operating current or electrical operating power of the payload 3 is lower than the threshold for the electrical current or electrical power of the payload 3, and if the operating rotational speed of the payload 3 is lower than the threshold for the rotational speed of the payload 3, the control unit 50 is configured to define a second operating efficiency index of the mobile device 2; - if the electrical operating current or electrical operating power of the payload 3 is higher than the threshold for the electrical current or electrical power of the payload 3, and if the operating rotational speed of the payload 3 is lower than the threshold for the rotational speed of the payload 3, the control unit 50 is configured to define a third operating efficiency index for the mobile device 2.

[0349] It should be noted that the second operating efficiency index of mobile device 2 is lower than the first operating efficiency index of mobile device 2, and the third operating efficiency index of mobile device 2 is lower than the second operating efficiency index of mobile device 2. Consequently, the third operating efficiency index of mobile device 2 is lower than the first operating efficiency index of mobile device 2.

[0350] In particular, the threshold for the rotational speed of the payload 3 is between 3% and 20% lower than the nominal rotational speed of the payload 3, and especially between 5% and 15% lower. Furthermore, the current or power threshold is preferably between 3% and 20% higher than the rated current or power, especially between 5% and 15% higher.

[0351] According to the third embodiment, the threshold for the rotational speed of the payload 3 can comprise at least a first and a second threshold for the rotational speed of the payload 3, wherein the first threshold for the rotational speed of the payload 3 is between 3% and 9%, in particular between 5% and 8%, preferably between 6% and 7%, lower than the nominal rotational speed of the payload 3, and the second threshold for the rotational speed of the payload 3 is between 10% and 20%, in particular between 11% and 15%, preferably between 13% and 14%, lower than the nominal rotational speed of the payload 3. In general, the second threshold for the rotational speed of the payload 3 is lower than the first threshold for the rotational speed of the payload 3.

[0352] Furthermore, the threshold for the electric current or power can comprise at least a first and a second threshold for the electric current or power, wherein the first threshold for the electric current or power is between 3% and 9%, in particular between 5% and 8%, preferably between 6% and 7%, higher than the rated electric current or rated electric power, and wherein the second threshold for the electric current or power is between 10% and 20%, in particular between 11% and 15%, preferably between 13% and 14%, higher than the rated electric current or rated electric power.

[0353] The control unit 50 is thus configured to compare the electrical operating current or electrical operating power with the first and second threshold values ​​for electrical current or electrical power, to compare the operating rotational speed of the payload 3 with the first and second threshold values ​​for the rotational speed of the payload 3, and to define the operating efficiency index of the mobile device 2 depending on these comparisons.

[0354] The operating efficiency index of mobile device 2 can be defined depending on the following conditions: - if the electrical operating current or electrical operating power is lower than the first threshold for electrical current or electrical power, and if the operating rotational speed of the payload 3 is higher than the first threshold for the rotational speed of the payload 3, then the control unit 50 is configured to define a first operating efficiency index of the mobile device 2; - If the electrical operating current or electrical operating power is higher than the first threshold for electrical current or electrical power and lower than the second threshold for electrical current or electrical power, and if the operating rotational speed of the payload 3 is lower than the first threshold for rotational speed and higher than the second threshold for rotational speed, then the control unit 50 is configured to define a second operating efficiency index of the mobile device 2. The second operating efficiency index of the mobile device 2 is lower than the first operating efficiency index of the mobile device 2. - if the electrical operating current or electrical operating power is higher than the first and second threshold values ​​for electrical current or electrical power, and if the operating rotational speed of payload 3 is lower than the first and second

[0355] Threshold for rotational speed, then the control unit 50 is configured to define a third operating efficiency index of the mobile device 2: the third operating efficiency index of the mobile device 2 is lower than the second operating efficiency index of the mobile device 2.

[0356] The threshold for the rotational speed and the nominal rotational speed, as well as the threshold current or threshold power or the rated current or rated power, can be defined numerically.

[0357] In this respect, the nominal rotational speed can be between 2500 rpm and 3500 rpm, in particular between 2700 rpm and 3300 rpm, and in particular be essentially equal to 3000 rpm.

[0358] The first threshold for the rotational speed can be between 2300 rpm and 3200 rpm, in particular between 2700 rpm and 2900 rpm, and in particular be essentially equal to 2800 rpm.

[0359] The second threshold for the rotational speed can be between 2000 rpm and 3150 rpm, in particular between 2500 rpm and 2700 rpm, and in particular be essentially equal to 2600 rpm.

[0360] The rated current or rated power can be between 50 and 70 amps and / or between 2500 and 3400 watts.

[0361] The first threshold current or threshold power can be between 55 and 60 amperes or between 2600 and 2800 watts.

[0362] The second threshold current or second threshold power can be between 60 and 65 amperes or between 2800 and 3100 watts.

[0363] In the second and third embodiments, the current or power detected by the current or power detector is received by at least one of the electric motors of the payload 3 of the mobile device 2 and the electric motor of the motion devices of the mobile device 2. For example, the electrical current or power detected by the current detector can be received simultaneously by both the electric motor of the payload 3 and the electric motor of the motion devices during the operating condition. After determining the operating efficiency index, the control unit 50 is further configured to compare the operating efficiency index with a predetermined threshold efficiency index and, depending on this comparison, for example, if the operating efficiency index is lower than the predetermined threshold efficiency index, to identify at least one corrective measure suitable for increasing the operating efficiency index.The corrective action may include increasing the height of the payload 3 relative to the ground, decreasing the feed rate of the mobile device 2, decreasing the rotational speed of the payload 3, or decreasing the supply current or voltage of the payload 3's electric motor. In this respect, the mobile device, as described above, may include a feed rate detector, such as an encoder or GPS sensor, and / or a rotational speed detector of the payload 3. The control unit 50 is thus configured to receive such speed signals and determine a feed rate value and / or a rotational speed of the payload 3.Furthermore, the control unit 50 can be configured to command the rotational speed of the electric motor of the motion devices and / or the electric motor of the payload 3 in order to vary the feed rate and / or the rotational speed of the payload 3, thus implementing the corrective action and increasing the operating efficiency index. The control unit 50 can therefore be configured to execute a corrective action depending on the operating efficiency index determined during an operating condition of the mobile device.

[0364] Furthermore, the mobile device can include height adjustment devices configured to allow variation in the height of the payload 3 of the mobile device 2 relative to the ground. The height adjustment devices can be manually controlled, in which case they are configured to allow a user to manually adjust the height of the payload 3 relative to the ground, or automatically controlled. In the latter case, the mobile device 2 includes one or more actuators that are functionally connected to and configured with the height adjustment devices and the control unit 50 to vary the height of the payload 3. In the latter case, the control unit 50 is configured to command a corrective action, which consists of controlling the adjustment devices to vary the height of the payload 3 of the mobile device relative to the ground.

[0365] The corrective action can be performed automatically by the control unit 50 or manually by a user. More precisely, the control unit 50 can be configured to automatically perform one or more of the described corrective actions depending on the comparison between the operating efficiency index and the predetermined threshold efficiency index. For example, when the condition occurs, the control unit 50 can be configured to automatically vary the feed rate and / or the rotational speed of the payload 3 without further user intervention. Alternatively, the identified corrective action can be made contingent upon user approval before its execution.

[0366] The system may further include a user interface, including a screen, connected to the control unit 50, the control unit 50 being configured to display the identified corrective action for increasing the efficiency index on this screen. The identified corrective action may be indicated by chromatic highlighting. In addition, the user interface may be configured to request a confirmation signal from the user, representing agreement to implement the identified corrective action, and / or user confirmation of the corrective action proposed by the control unit 50.

[0367] The system's user interface can be used to display at least one of the following in real time: the height of the payload 3 relative to the ground, the feed rate of the mobile device 2, the ground slope at the position of the mobile device 2, an index representative of the current absorbed by the payload 3, an index representative of the rotational speed of the payload 3, and the operating efficiency index of the mobile device 2.

[0368] The control unit 50 is preferably configured to simultaneously determine and display the real-time operating efficiency index on the screen.

[0369] The control unit 50 can be configured to display the operating efficiency index of the mobile device 2 on the screen by means of a graphic pattern 22, which is in Fig. Figure 2 shows variable chromatic or geometric features depending on a value of the operational efficiency index. For example, a green graphic pattern 22 may correspond to a higher and therefore better value of the operational efficiency index than a red or orange graphic pattern for the operational efficiency index.

[0370] Optionally, the control unit 50 can be configured to define a safety limit with respect to the operating efficiency index and to compare at least one current value of the operating efficiency index during an operating condition of the mobile device 2 with the safety limit and, depending on this comparison, for example if the current value of the efficiency index is lower than the safety limit, to deactivate the payload 3 and stop the rotation of the electric motor.

[0371] The safety limit of the operating efficiency index defines a limit beyond which a dangerous condition may be triggered: An excessively low rotational speed of the payload 3 or an excessively high electrical current or power consumption may lead to physical damage to the mobile device, in particular to the electric motor or combustion engine connected to the payload 3 and / or to the movement devices and / or to the on-board battery.

[0372] The system can be configured in an initial configuration in which the mobile device 2 carries the payload 3, the on-board battery, and the control unit 50, which is configured to determine the operating efficiency index. According to the initial configuration, the mobile device can further include the motion devices and, optionally, the user interface.

[0373] According to a second configuration, the mobile device 2 carries the payload 3, the battery, a first controller 5 of the control unit 50, and first communication devices. Optionally, according to the second configuration, the mobile device 2 also carries the motion devices and, optionally, the user interface. In the second configuration, the mobile device 2 is configured to communicate with a remote device via first communication devices, comprising a second controller 105, second communication devices 102 configured to enable communication with the first communication devices of the mobile device 2, and the user interface. The in Fig. 3. The remote device shown schematically can be a smartphone, a tablet, or a computer. The first and second communication devices 102 can include a wireless connection, such as WiFi or Bluetooth. It should be noted that the first controller 5 and the second controller 105 are part of the control unit 50: Therefore, the steps described above, which are carried out by the control unit 50, can be physically triggered by the first controller 5 and / or by the second controller 105. RETURN TO THE DOCKING STATION

[0374] The following describes a system 30 and a corresponding method suitable for instructing the mobile device 2 to control a docking station 31 when the state of charge of the on-board battery falls below a predetermined threshold. Fig. 4 schematically represented system 30 for the “return to the docking station” can be compared with the systems relating to the “completion of work in the work area” and the determination of the “operating efficiency”. i "Citizenship index" agree.

[0375] In particular, the mobile device according to the present system 30 comprises the payload 3, which is configured to perform maintenance work within the work area 1, and motion devices as described above. Specifically, the payload and the motion devices can each comprise electric motors that can be activated and commanded by the control unit. In a preferred embodiment, the mobile device comprises separate electric motors for the payload and for the motion devices, and the control unit is configured to activate and command the motors independently. The mobile device 2 may be a lawn mower, a scarifier, or a rotary tiller. The mobile device of system 30 can be a self-propelled mobile device or a manually driven mobile device.In particular, regardless of whether the mobile device 2 is self-propelled or manually driven, it is powered by the onboard battery, which is configured to power the propulsion devices and the payload 3. In one embodiment, the battery is configured to power both the electric motor of the propulsion devices and the electric motor of the payload 3.

[0376] The system further includes a distance detector 6 configured to emit at least one signal representative of the distance of the mobile device 2 in relation to the docking station.According to one embodiment, the distance detector can include an onboard position detector carried by the mobile device 2, for example a GPS detector, configured to transmit a position signal representative of the position of the mobile device 2 during an operating condition: The control unit 50 is thus configured to receive the position signal of the mobile device 2 during an operating condition, to immediately determine the position of the mobile device 2 based on this position signal, to receive or define a position of the docking station, and to estimate a control parameter representative of the distance between the mobile device 2 and the docking station based on the position of the mobile device 2 and the position of the docking station, in order to define an intermediate distance between the mobile device 2 and the docking station.In particular, the control parameter can correspond to the actual distance between the mobile device and the docking station 31 or the length of a connecting path between the position of the mobile device 2 and the docking station 31.

[0377] The position of the docking station 31 can be determined by a further position detector 32, which is configured to emit a signal representative of the position of the docking station 31. The control unit 50 is configured to receive the position signal from the docking station and determine its geographic position. Depending on the position of the docking station 31 and the detected position of the mobile device 2 during an operating condition, the control unit 50 is configured to estimate the control parameter.

[0378] The position detector 32, configured to determine the position of the docking station 31, can be carried by the docking station itself. Alternatively, the position detector 32, configured to define the position of the docking station, can be carried by a remote device 100, such as a smartphone or tablet, as shown in Fig. 3 schematically represented, or a remote GPS detector: In such a case, the control unit 50 is configured to define a setting condition suitable for detecting the position of the docking station 31 and includes the steps of arranging the remote device 100 at the docking station 31, detecting the position of the remote device 100 using the position detector of the remote device 100, assuming that the position of the remote device 100 corresponds to the position of the docking station 31, and sending the detected position of the docking station 31 to the control unit 50.

[0379] The position of docking station 31 can optionally be received as input from a user via a user interface. The position of the docking station can be transmitted as input to the control unit 50, for example in the form of GPS coordinates or by identifying docking station 31 on a virtual map.

[0380] Alternatively, the distance detector of the system 30 can comprise a time-of-flight sensor or an optical sensor carried by the mobile device 2 and / or the docking station 31 and configured to transmit a signal representative of the distance between the mobile device 2 and the docking station 31. The control unit 50 is configured to estimate the distance parameter based on this detected distance. In this specific embodiment, the system does not need to determine the geographic position of the mobile device 2 and the docking station 31 to determine the distance between them.

[0381] It should be noted that the distance between the mobile device 2 and the docking station 31 may not correspond to the actual length of a return path that the mobile device must travel to reach the docking station 31. In this respect, the control unit 50 can be configured to receive or obtain a virtual map of the work area 1 and, for each of the estimated positions of the mobile device 2 within the work area, identify a corresponding return path towards the docking station 31. The control unit is thus configured to calculate the actual length of such a return path: the distance between the mobile device and the docking station is calculated along one of the return paths of the mobile device to the docking station. Consequently, the control unit is configured to determine the minimum charge level depending on the actual length of the return path.Furthermore, the control unit 50 is configured to estimate a state of charge in real time, which is representative of the remaining battery charge or remaining battery life. The remaining battery life corresponds to what was described above: In particular, the remaining battery life is representative of the remaining operating time of the battery for performing maintenance work. In other words, the operation of the mobile device is guaranteed for a period corresponding to the remaining battery life. After such a period, the battery is considered discharged and has an insufficient remaining charge to determine the feed rate and / or the operation of the payload 3. The state of charge can also be specified as a percentage of a maximum battery life, the latter being representative of the remaining operating time of the battery when fully charged.Similarly, the state of charge can also be specified as a percentage of the maximum voltage supplied by the battery when the battery is fully charged.

[0382] The control unit 50 is further configured to define a minimum charge level, depending on the control parameters. This minimum charge level is defined as a charge level sufficient to allow the mobile device 2 to reach and / or approach the docking station. Specifically, this minimum battery charge level must be sufficient to provide electrical energy to the electric motor of the mobile device 2's propulsion system, enabling the mobile device 2 to return to the docking station 31. Alternatively, this minimum battery charge level must be sufficient to provide electrical energy to the electric motor of the mobile device 2's payload until the mobile device 2 has returned to the docking station 31.Furthermore, such a minimum battery charge level must be sufficient to provide electrical energy to the electric motor of the movement devices of the mobile device 2 in order to enable the mobile device 2 to return to the docking station 31, and at the same time be sufficient to provide electrical energy to the electric motor of the payload 3 in order to continue the maintenance work in the work area.

[0383] It should be noted that the minimum charge level varies with the distance parameter: In particular, as the distance between the mobile device 2 and the docking station 31 increases, the minimum charge level of the battery required to allow the mobile device 2 to return to the docking station increases.

[0384] In one embodiment, the step of determining the minimum charge level can include a step of estimating a normalized average consumption of the battery charge with respect to a distance traveled by the mobile device 2 or a time interval, for example, an average charge consumption per meter of travel or per second: In this case, the control unit 50 is thus configured to determine the minimum charge level depending on the average consumption and the distance parameter: It should be noted that the algebraic product between the distance measured between the mobile device 2 and the docking station 31 and the average consumption provides, as a result, the necessary and sufficient charge for the mobile device 2 to travel such a distance.The control unit 50 can be configured to estimate the average consumption during maintenance work or during a setup cycle suitable for simulating maintenance work in the work area 1. The setup cycle can have the same characteristics as previously disclosed in the present detailed disclosure.

[0385] The average battery charge consumption can be estimated by the control unit 50 depending on at least one of the following: the electrical current supplied by the battery, the supply voltage supplied by the battery, the feed rate of the mobile device 2, the rotational speed of the payload 3, or a combination thereof, and / or a temporal variation in the battery charge level. In this respect, the mobile device 2 can include a detector for the current and / or voltage supplied by the battery, a detector for the feed rate of the mobile device, such as an encoder or a GPS detector, and / or a detector for the rotational speed of the payload 3 connected to the control unit 50.

[0386] Furthermore, the control unit 50 can be configured to detect and store variations in the battery charge level over time during a mobile device's operating cycle, in order to define an average consumption and determine the minimum charge level based on this average consumption. Specifically, the control unit 50 is configured to estimate the distance parameter, estimate such an average consumption, and determine the minimum charge level based on the average consumption and the distance parameter.More precisely, the control unit 50 is configured to estimate the distance parameter, estimate the average travel time, calculate a return time as a ratio between the distance parameter (specifically, the distance between the docking station and the mobile device) and an average return speed, compare the return time with the remaining battery charging time, and, based on this comparison, define the minimum battery charge level required to allow the mobile device to return to the docking station. The return time can be defined as the time required by the mobile device 2 to travel from its location to the docking station.The average return speed can be defined by the control unit 50 and be equal to an average feed rate of the mobile device during the work cycle; alternatively, the average return speed can be lower than the average speed of the mobile device. Such an average return speed can be preset or modifiable by a user via a user interface of the system 30, for example, a user interface on board the mobile device 2 or a user interface 102 of the remote device 100.

[0387] It should be noted that a remaining battery charge level at which the remaining charging time equals the return time essentially corresponds to the minimum battery charge level. Furthermore, the control unit 50 can be configured to determine a battery charge level and remaining battery time depending on such charge level, whereby such remaining battery time can be expressed in terms of time. In particular, the control unit 50 can be configured to determine the remaining battery time depending on the battery charge level and also depending on the operating parameter described above with respect to system 20 for determining the efficiency index or system 10 for completing work in the work area 1.The remaining battery life is representative of the remaining operating time of the battery for carrying out the maintenance work: In other words, the operation of the mobile device is guaranteed for a period equal to the remaining battery life. After such a period, the battery is to be considered discharged and has a residual charge that is insufficient to activate the movement mechanisms of the mobile device and / or the payload 3.

[0388] The control unit 50 is thus configured to compare the estimated state of charge with the minimum state of charge and, depending on this comparison, to execute at least one corrective action. The corrective action can include at least one command to the motion devices, the return of the mobile device 2 to the docking station, and the activation of an energy-saving mode for the mobile device 2. The energy-saving mode can include at least a reduction in the feed rate of the mobile device, an increase in the cutting height of the mobile device 2, a reduction in the rotational speed of the payload 3, or a stop of the payload 3. The control unit can be configured to both control the return of the mobile device 2 to the docking station and activate the energy-saving mode.

[0389] In terms of timing, the control unit 50 is thus configured to estimate the remaining battery life, to estimate the return time depending on the distance parameter and optionally depending on an average return speed of the mobile device, to compare the return time with the remaining battery life, and to execute at least one corrective action depending on this comparison. In particular, the control unit is configured to execute the corrective action if the following condition is met: RT>C*BT where: RT = Return time; BT = remaining battery life; C = safety factor, where 0.8 <C<0,99, insbesondere wobei 0,85> C<0.95.

[0390] The security factor can be preset or modifiable by the user via a user interface.

[0391] In a further embodiment, the control unit 50 can be configured to detect a work interruption position of the mobile device 2, which is representative of the point on the work surface 1 where the battery charge level reaches the minimum charge level, to store such a work interruption position, and, after a battery charging step of the mobile device 2, to instruct the motion devices to move the mobile device 2 in the direction of the work interruption position. Such a feature can be particularly useful because it allows the mobile device to resume maintenance work after the charging step at the point where it was interrupted.

[0392] Furthermore, the control unit 50 can be configured to explicitly issue at least one instruction regarding the control of the mobile device 2 to the docking station, for example, in combination with the activation of the power-saving mode. Such an instruction can be displayed on a user interface of the system, for example, on a user interface directly mounted on the mobile device 2, or on a user interface of the remote device 100. In the latter case, the mobile device 2 and the remote device 100, as described above, include first and second communication devices configured to transmit data to each other, in this case, for example, to transmit the control instructions to a user. In this case, the user can drive the mobile device 2, for example, a tractor.

[0393] The in Fig. The docking station 31, shown schematically in Figure 4, is configured to accommodate the mobile device 2, provide an electrical connection to it, and charge the mobile device 2's onboard battery. The docking station can be powered by a standard household electrical supply, such as a 110V, 220V, or 380V supply. The docking station can have a power supply capacity between 2 Ah and 20 Ah. The mobile device 2 and the docking station include corresponding charging ports configured to connect electrically when the mobile device 2 is at the docking station, enabling the charging of the mobile device 2's onboard battery. Specifically, these charging ports can be configured to connect automatically when the mobile device reaches the docking station.

[0394] The control unit 50 may further comprise a local control unit carried by the mobile device 2, powered by the onboard battery, and configured to perform the steps of the control unit 50 described above. The mobile device 2 may further comprise initial communication equipment configured to remotely transmit and receive one or more signals.

[0395] System 30 can also control a remote device 100 of the in Fig. 3 schematically represented types include, for example, a computer, a smartphone or a tablet, comprising at least one user interface 101, second communication devices 102 configured to connect wirelessly to the first communication devices, and a second controller 105 functionally connected to the user interface and the second communication devices 102.

[0396] The first control unit 5 of the mobile device can be configured to send status information from the mobile device 2 to the remote device via the respective first and second communication devices: The status information can include at least one of the detected charge level of the on-board battery, the distance parameter such as, in particular, the distance between the mobile device 2 and the docking station, the minimum charge level of the on-board battery and one or more of the corrective actions taken. LOADING TIME WINDOW

[0397] The following describes a system 40 and a method for land maintenance, in particular of lawns, gardens or agricultural land, which relates to enabling the charging of the on-board battery of the mobile device 2 during one or more optimal charging time windows. In particular, the present system 40 can be used, as described above, with regard to the “completion of work in the work area”, the determination of the “operational efficiency index” and the “return to the docking station”.

[0398] The present system 40 comprises at least one docking station 31, at least one manually driven or self-propelled mobile device 2 operating within a work area 1 and comprising at least one payload 3 configured to perform maintenance work within the work area 1.

[0399] The mobile device is electrically powered and configured to be powered by the onboard battery during operation, as described above. In particular, the onboard battery is rechargeable via the docking station 31.

[0400] The system 40 further includes the control unit 50, which is functionally connected to and configured with the mobile device 2 to receive or set one or more charging time windows and to allow a charging process of the on-board battery of the mobile device 2 in one or more of these charging time windows.

[0401] The time windows each define one or more windows within which the control unit 50 is configured to allow charging of the on-board battery: For example, a charging window during which charging is permitted can be set between 8:00 PM and 5:00 AM. The control unit 50 can be configured to promote or selectively allow charging of the on-board battery of the mobile device 2 within such a charging window. Conversely, the control unit 50 can be configured to prohibit, discourage, or significantly reduce charging of the on-board battery of the mobile device 2 outside of the charging window. The time windows can be set based on the variable cost of electricity to determine economic savings during charging.Alternatively or in combination, the time windows can be defined in such a way that a large number of different mobile devices 2 can be charged at different times: For example, the control unit can be configured to define separate time windows for each mobile device in the case of a single docking station 31 and a large number of mobile devices.

[0402] The control unit 50 can also be configured to define such time windows and to allow charging of the mobile device's battery depending on its state of charge. Specifically, the control unit 50 is configured to estimate a state of charge that is representative of the remaining charge of the on-board battery or its remaining duration, to compare such an estimated state of charge with at least one charging threshold, and, depending on this comparison, to allow charging of the on-board battery of the mobile device 2. For example, charging is permitted if the estimated state of charge is lower than the charging threshold.

[0403] The term "allow charging" means that the control unit is configured to control the docking station 31 in such a way that, within the defined time window, a connection between the docking station and the mobile device's battery determines the charging condition. Conversely, the term "prohibit charging" means that even if the mobile device is positioned at and connected to the docking station, the docking station does not provide any electrical power to the mobile device's onboard battery. Specifically, the docking station 31 can be configured to receive the mobile device 2, allow an electrical connection to the mobile device 2, and charge the mobile device 2's onboard battery if it is within the defined time window.The mobile device 2 and the docking station 31 each include a charging port configured to connect electrically when the mobile device 2 is attached to the docking station 31, enabling the charging of the mobile device 2's onboard battery. The docking station, in turn, includes an electrical port 33 configured to connect electrically to a household electrical outlet: such an electrical port 33 provides power to the docking station 31 itself.

[0404] In an embodiment where the mobile device 2 is self-propelled, the mobile device 2 comprises motion devices of the type described above, which are functionally connected to the control unit 50. The control unit 50 can be configured to set an operating program for the mobile device depending on the battery charge level, the current time, and a comparison of this with the set charging time window(s). The operating program can include a step of performing maintenance work in the work area, moving the mobile device 2 within the work area to perform the maintenance work, setting an energy-saving mode for the mobile device, performing the maintenance work in the energy-saving mode, and allowing or determining the charging process of the onboard battery of the mobile device 2 at the docking station 31.

[0405] The energy-saving mode can include at least one of the following: a reduction in the feed rate of the mobile device 2 during the work cycle, an increase in the cutting height of the payload, a reduction in the rotational speed of the payload 3, for example the rotational speed of the cutting blade, and a stop of the payload 3.

[0406] The system 40 with respect to the charging time windows is configurable in a first configuration in which, if the estimated battery charge level is lower than a predefined minimum battery charge level and if the current time is included in the time window or at least one of the time windows, the control unit 50 is configured to bring the mobile device 2 to the docking station and determine the charging process of the on-board battery.

[0407] In a second configuration, if the charge level of the on-board battery of the mobile device 2 is lower than a predefined minimum charge level and if the current time is outside the time window or any of the time windows, the control unit 50 is configured to stop or hold the mobile device 2 or to command the mobile device 2 to return to a storage location until the charging time window is available.

[0408] In a third configuration, when the charge level of the mobile device 2's on-board battery is higher than a predefined minimum charge level, the control unit 50 is configured to command the mobile device 2 to perform maintenance work in the work area. Specifically, the control unit 50 is configured to command the movement of the mobile device 2 within the work area to carry out the maintenance work.

[0409] In a fourth configuration, if the charge level of the on-board battery of the mobile device 2 is higher than a predefined minimum charge level but lower than a predefined average charge level, where the average charge level is higher than the minimum charge level, and if the current time is outside of at least one time window, the control unit 50 is configured to perform maintenance work and activate an energy-saving mode of the mobile device 2.

[0410] In a fifth configuration, if the charge level of the on-board battery of the mobile device 2 is higher than a predefined minimum charge level but lower than a predefined average charge level, where the average charge level is higher than the minimum charge level, and if the current time is included in at least one time window, the control unit 50 is configured to move the mobile device 2 towards and to the docking station to determine the recharging of the on-board battery.

[0411] As described above, the minimum battery charge level can be defined as an insufficient or nearly insufficient charge level to power the payload 3 and / or the movement mechanisms of the mobile device for performing maintenance work within the work area. In other words, the minimum battery charge level represents the point below which the battery must be recharged to effectively power the mobile device during maintenance work within the work area. For example, the minimum charge level may be between 0% and 25% of the maximum battery charge level, particularly between 5% and 20%.

[0412] The average battery charge level can instead be defined as a charge level sufficient to power the payload 3 and / or the movement mechanisms of the mobile device in order to perform the maintenance work. Specifically, the average charge level is lower than the maximum battery charge level but higher than the minimum charge level. For example, the average charge level can be between 40% and 60% of the maximum battery charge level.

[0413] Furthermore, the control unit 50 or the docking station 31 controller can be configured to detect a network parameter representative of electrical network saturation, compare this parameter with a threshold network parameter, and determine the minimum charging time window based on this comparison. Alternatively, the system 40 can be configured to receive such a network parameter as input.

[0414] The control unit 50, or a docking station controller, can also be configured to receive one or more signals from an energy supplier that are representative of energy costs, which vary according to different times of day. The control unit is thus configured to define at least one minimum-cost time window, representative of times when energy costs are minimal or lower than a predefined cost threshold, and to set at least one charging time window to such a minimum-cost time window.

[0415] In one embodiment, the control unit 50 can further be configured to receive or recognize, during a charging process, some characteristic information from the docking station 31 itself and, optionally, some information representative of the energy capacity of the onboard battery of the mobile device 2. The characteristic information from the docking station 31 can include the electrical charging power supplied by the docking station. The energy capacity of a battery can be defined in watts per hour or amperes per hour.

[0416] The control unit can therefore be configured to estimate the time required for a full charge or the charging end time, based on characteristic information from the docking station and, optionally, the capacity of the on-board battery. Furthermore, the control unit can be configured to adjust the operating program described above depending on the charging time or the charging end time.

[0417] Once the charging time has been estimated, the control unit 50 can be configured to define, set or change the charging time window so that the charging process takes place completely or at least mostly within the charging time window.

[0418] System 40 can include a user interface that is functionally connected to and configured with the control unit 50 to receive at least some of the information representative of the charging time windows from a user. For example, the user can manually provide the time windows to the control unit via the user interface, or they can provide information about the mobile device's onboard battery, such as its power and maximum energy capacity. The user interface can be carried directly by the mobile device and include a screen, such as a touchscreen. Alternatively, or in combination, the user interface can be carried by the remote device 100, which includes a screen 101.

[0419] In one configuration, the mobile device 2 includes, and in particular carries on board, the payload 3, the battery, a local control unit 50, primary communication devices, motion devices for determining its movement within the work area 1, and optionally a user interface. The mobile device is thus configured to interface with a remote device 100, which includes a remote control 105, a secondary communication device configured to enable communication with the communication devices of the mobile device 2, and a user interface 101. The primary and secondary communication devices 102 may include a wireless connection such as WiFi or Bluetooth.The remote device 100 can have the same properties described above and be configured to receive information representative of the time windows from a user and to send the information representative of the time windows to the mobile device 2 via the second communication device.

[0420] System 40 can be part of a power plant that also includes a local power grid with a renewable energy source, such as solar panels or wind turbines. The control unit can be configured to receive a power index as input, representing electrical power that can be supplied by the local electrical grid, optionally depending on one or more time windows, and to receive at least one power signal from the local electrical grid, representing electrical power supplied by the grid during an operating condition, optionally depending on one or more time windows.The control unit can therefore also be configured to determine one or more time windows for maximum power depending on the power index and / or the power signal and to set the charging time window to the time window for maximum power. DIAGNOSTIC MONITORING

[0421] Another system for land maintenance according to the preceding disclosures is described below. A schematic representation of such a system is shown in Fig. Figure 5 shows and includes a control unit (50) configured to perform a diagnostic monitoring sequence with respect to a mobile device 2 adapted for performing maintenance work within the work area. In particular, the mobile device corresponds to one of the embodiments described above.

[0422] The diagnostic monitoring procedure of the present system aims to acquire data and operating parameters of the mobile device 2 in order to perform diagnoses related to faults in the mobile device or to provide repairs or technical maintenance on the mobile device 2.

[0423] In particular, the diagnostic monitoring procedure includes a step of receiving at least one diagnostic parameter from the mobile device 2, which is representative of at least one service or operational status of the mobile device 2. The diagnostic parameter may be representative of an operating condition of the mobile device 2's onboard battery or of an operating time with respect to one or more components of the mobile device 2. In particular, the operating time with respect to one or more components of the mobile device 2 defines a period of time during which the mobile device has performed maintenance work within the work area, or a spatial extent covered by the mobile device during its operation: In other words, the operating time represents how much the mobile device 2 has worked in terms of time and / or movement within the work area.

[0424] Furthermore, the diagnostic parameter can include a fault parameter that is representative of the presence of one or more faults in the mobile device, such as a fault in the electric motor or combustion engine, in an electrical or electronic component of the mobile device, or in the on-board battery. In other words, the control unit 50 is configured to query one or more components of the mobile device and verify their operation.

[0425] Furthermore, the diagnostic parameter can include an energy parameter that is representative of the current drawn by the onboard battery under a predetermined condition. The predetermined condition can be an operating condition of the mobile device within the work area during the execution of land maintenance work. In other words, the predetermined condition can be a standard operating condition of the mobile device.

[0426] The diagnostic monitoring procedure further includes a step of comparing the diagnostic parameter with a respective predetermined threshold diagnostic parameter. The threshold diagnostic parameter can comprise threshold values ​​with respect to a diagnostic parameter of the type described above. In particular, the threshold diagnostic parameter can comprise a predefined value or a corresponding predefined interval. For example, the threshold diagnostic parameter can comprise a threshold parameter for an operating condition of the on-board battery of the mobile device 2, an operating time with respect to one or more components of the mobile device 2, or a failure limit parameter that is representative of a failure or incipient failure of the mobile device 2. The threshold diagnostic parameter can define an interval of threshold values ​​that lies between a minimum value and a maximum value of the corresponding diagnostic parameter.For example, the control unit can be configured to detect the current drawn by the electric motor of the payload or the motion devices during operation and compare this current to a threshold value that is representative of the proper operation of the electric motor or the onboard battery. Based on this comparison, the control unit is configured to verify the correct operation of the electric motor or battery: for example, if the current drawn by the electric motor of the payload or the motion devices during operation exceeds the threshold current, the control unit is configured to output a diagnostic parameter representative of a fault.

[0427] If the comparison step outputs a diagnostic parameter that exceeds the respective threshold for that parameter, the control unit is configured to suggest, or after user confirmation, execute at least one technical assistance program for the mobile device. The technical assistance program for mobile device 2 may include the step of identifying, based on the diagnostic parameter, at least one component of mobile device 2 that is in a state of actual failure or malfunction, or that is susceptible to incipient failure or malfunction.Furthermore, the technical assistance program can include the step of executing a spare parts inventory management operation depending on such an identification: The management operation can, for example, be an automatic procurement operation of a component of the mobile device 2 to replace the component that has failed or is prone to incipient failure or malfunction.

[0428] The diagnostic monitoring procedure further includes a step of wirelessly transmitting the diagnostic parameter to at least one remote infrastructure, as described below.

[0429] The diagnostic monitoring procedure further includes a step of receiving at least one identification parameter of the mobile device 2. The identification parameter can be representative of a type of mobile device 2 and / or of one or more of its components, for example, mechanical and / or electrical components forming the mobile device. The identification parameter can, for example, identify the mobile device as a lawnmower, tiller, scarifier, or as a self-propelled or manually operated mobile device. Furthermore, the identification parameter can indicate that the mobile device is a thermoelectric tractor or, alternatively, a self-propelled robotic lawnmower. In other words, the identification parameter can thus broadly indicate a family of mobile devices to which the mobile device in question belongs.

[0430] Additionally, the identification parameter can be a unique code that is representative of the mobile device 2 transmitting the identification parameter. In such a case, the identification parameter not only represents a family of mobile devices to which the present mobile device belongs, but also uniquely identifies the device that transmitted such an identification parameter. Therefore, such an identification parameter can only be assigned to a single mobile device. Depending on this unique identification parameter, the control unit can be configured to obtain further information about the mobile device, such as the year of manufacture, technical specifications, type and / or brand of the components installed on the mobile device 2, the date of sale, and whether or not a warranty exists.Furthermore, the control unit can be configured to verify, based on this unique identification parameter, all assistance interventions or repairs performed, the maintenance history of the mobile device, and whether periodic maintenance was performed correctly or not.

[0431] The diagnostic monitoring procedure further includes a step of wirelessly transmitting the identification parameter to the remote infrastructure. Specifically, the diagnostic monitoring procedure includes wirelessly transmitting both the identification parameter and the diagnostic parameter to the remote infrastructure.

[0432] In particular, the mobile device 2 comprises first wireless communication devices configured to remotely transmit the diagnostic parameter. The mobile device further comprises a first controller 5, which forms part of the control unit 50, is carried by the mobile device 2, and is configured to command the first communication devices to wirelessly transmit the identification parameter and the diagnostic parameter to the remote infrastructure. The first wireless communication devices may include an internet module configured to communicate with the remote infrastructure via an internet network.

[0433] The remote infrastructure can therefore be a remote Server 200, which is either directly or indirectly connected, as in Fig.Figure 5 shows that the mobile device 2 is connected to the mobile device 2 via a remote communication network, enabling it to send and receive data from the mobile device. The remote communication network can be the internet network.

[0434] In one embodiment, the remote infrastructure includes a remote device 100, wherein the remote device 100 comprises second communication devices 102 configured to communicate functionally with the first communication devices of the mobile device 2, and a second controller 105 that forms part of the control unit 50 directly carried by the remote device 100. The first controller 5 is thus configured to control the first communication devices to wirelessly transmit the identification parameter and / or the diagnostic parameter to the second communication devices of the remote device 100. It should be noted that the first and second communication devices of the mobile device 2 and 2, respectively, areThe remote device 100 is configured to communicate with each other within a maximum radius of less than 100 m, in particular less than 50 m and especially less than 25 m. For example, the first and second communication devices of the mobile device 2 and the remote device 100 are configured to communicate with each other via a local WiFi network, a Bluetooth protocol, or a local WiFi internet network.

[0435] The remote device 100 further preferably includes a user interface 101 comprising a screen for displaying at least one piece of information relating to the mobile device 2, for example, for displaying the diagnostic parameter and / or the identification parameter on the screen, so that a user is made aware of a possible failure of the mobile device or of information relating to periodic maintenance of the mobile device, or to display messages from a technical operator relating to the mobile device.

[0436] The mobile device 100 is further configured to communicate wirelessly with the remote server 200 of the remote infrastructure. In particular, the mobile device 100 may include an internet module configured to communicate with the remote infrastructure via an internet network in order to send the mobile device's identification and diagnostic parameters to the remote server 100.

[0437] In one embodiment, the system is configured to establish a local wireless connection, such as Bluetooth or local WiFi, between the mobile device 2 and the remote device 100, so that the mobile device 2 can transmit the diagnostic and identification parameters to the remote device 100. The remote device 100 can thus connect to the remote server via the internet module, enabling the mobile device's parameters to be transmitted over long distances. In other words, the remote device 100 acts as a gateway between the mobile device 2 and the remote server, and vice versa.

[0438] In an alternative embodiment, the mobile device 2 includes onboard the internet module, which is configured to communicate with the remote server via an internet network. This allows the mobile device to communicate directly with the remote server 200 without the need for an intermediary remote device 100.

[0439] The remote infrastructure of the present system may further comprise a remote service device 100a, which is distinct from the remote device 100. The remote service device 100a may exist in addition to the remote device 100. In particular, the remote service device 100a comprises a service controller 105a, service communication devices 102a configured to communicate with the remote server 200 via the internet network, and a service user interface 101a that is functionally connected to the service controller 105a and includes a screen. The remote device 100 and the remote service device 100a are thus configured to communicate with each other via the remote server 200 using the internet network.In other words, the remote server 200 is configured to enable communication, specifically bidirectional communication, between the remote device 100 and the remote service device 100a, wherein the remote server 200 is configured to send the identification parameter and / or the diagnostic parameter of the mobile device 2 to the remote service device 100a. Additionally or alternatively, the remote server 200 can be configured to enable bidirectional communication between the remote service device 100a and the first communication devices of the mobile device 2, wherein the first communication devices of the mobile device 2 are configured to communicate with the remote server 200 via the internet network.

[0440] According to one embodiment, the remote service device 100a is configured to receive setup instructions from a user via the service user interface 101a. The user may be a person skilled in the art. The setup instructions may be representative of an installation process or steps of the mobile device 2 within the work area. The setup instructions may thus include a geographical definition of the work area within which the mobile device is configured to perform the maintenance work, for example, GPS coordinates representative of the work area and / or a boundary of the work area. The setup instructions may further include an area extent of the work area. In particular, the setup instructions may include a geographical definition of the work area 1 within which the mobile device is to perform maintenance work.The geographic definition may include GNSS coordinates, in particular GPS coordinates, that are representative of work area 1 and / or a boundary of work area 1. Furthermore, the setup instructions may include a virtual map of work area 1 and a surface extent of work area 1.

[0441] The setup instructions may also include technical information about the onboard battery, such as its energy capacity. Furthermore, the setup instructions may include a predetermined height of the mobile device's payload relative to the ground, or a reset of one or more counters on the mobile device 2, configured to record the operating time of one or more components of the mobile device 2 during an operating condition. Finally, the setup instructions may also include the geographical location of a docking station 31 within the work area 1, configured to allow for a charge level of the mobile device 2's onboard battery.

[0442] The remote service device 100a is further configured to send the setup instructions to the mobile device 2 via the remote server 100.

[0443] In one embodiment, the remote service device 100a is configured to send such setup instructions to the mobile device 2 via the internet network and the remote server 100, without the remote device 100 acting as an intermediary. Alternatively, the remote service device 100a is configured to send the setup instructions to the mobile device 2 via the internet network and the remote server 100, as well as via the first and second communication devices of the mobile device 2 and the remote device 100, respectively. The first communication devices of the mobile device 2 are thus configured to receive the setup instructions and send them to the first controller 5 of the mobile device 2 to perform the installation of the mobile device within the work area.

[0444] In one embodiment, the control unit 50 can be configured as described above to perform a predictive diagnostic procedure based on the diagnostic parameter, which is suitable for estimating a predictive future maintenance program with respect to one or more components of the mobile device 2. More specifically, the control unit 50 can be configured to estimate the predictive maintenance program based on the operating time with respect to one or more components of the mobile device 2 and / or an energy parameter that is representative of the current drawn by the on-board battery under a predetermined condition. For example, the energy parameter can include a variation of the energy parameter outside an interval of expected values ​​that is representative of a failure or an incipient failure.In other words, the control unit 50 is configured to temporarily consider a repair or replacement of a component of the mobile device 2, depending on parameters and data relating to the operation of the mobile device, and thus provide this information to the user in advance via a user interface, for example, via the user interface 101 of the remote device 100. More precisely, the control unit 50 can be configured to display on the user interface of the remote device 100 or the remote service device 100a an estimated period within which one or more maintenance tasks are to be performed on the mobile device according to the predictive maintenance program.

[0445] It should be noted that the term "control unit 50" refers to any of the first controller 5 of the mobile device 2, the second controller 105 of the remote device 100, or the service controller 105a of the remote service device 100a. In other words, the steps described above, as performed by control unit 50, can be performed by any of the first and second controllers 5, 105, or the service controller 105a. It should also be noted that the remote infrastructure can include the remote server 200, the remote device 100, and the remote service device 100a, each of which preferably includes memory configured to store data and parameters relating to the operation of the mobile device, such as the threshold diagnostic parameter and the maintenance program.In particular, such a memory can be configured to store at least one of the predefined value and predefined interval, tolerance threshold, end value and / or mapping rule between the diagnostic parameter and at least one technical utility program.

[0446] In one embodiment, the mobile device 2 can further include a detector for at least one parameter and / or index that is representative of the health and / or hydration status of the work area 1, for example, the hydration status of the lawn. Such a detector can be a detector for a parameter and / or a spectral index such as the Normalized Difference Vegetation Index (NDVI) and / or the Normalized Difference Red Edge (NDRE) and / or the Water Band Index (WBI). The control unit 50 can thus be configured to receive the parameter and / or index for the condition of the work area 1 from the mobile device 2 and to wirelessly transmit such a parameter and / or index to the remote infrastructure.

[0447] In another embodiment, the mobile device 2 can include the position detector: The control unit 50 is thus further configured to link the relative detection position with the parameter or index of the status of the work area 1. More precisely, the system can be configured to generate a virtual map of the health and / or hydration status of the work area 1: One or more suggestions for improving the status of the work area or specific areas of the work area 1 can also be generated by the control unit. In particular, such suggestions can aim to perform a mowing operation and / or distribute water and / or fertilizer on the work area. The control unit can also be configured to display the virtual map of the status of the work area 1 and possibly such suggestions on the user interface 101 and / or on the service user interface 101a.

[0448] The monitoring system can include multiple mobile devices: For example, such a system can include at least 5 mobile devices, preferably at least 2 mobile devices, configured to perform maintenance work within their respective work areas. The control unit 50 can be configured to perform a diagnostic monitoring procedure individually for each of these mobile devices: In such a case, the remote server is configured to receive the identification parameters and / or diagnostic parameters of each mobile device in the plurality via the remote communication network.

[0449] The remote server 200 can also be configured to receive usage information and / or data of each mobile device via the remote communication network and to generate information and / or statistical data relating to the use of the mobile devices by the respective users, as well as possibly information and / or historical data relating to the temporal development of such information and / or statistical data.

Claims

[1] Land maintenance system, the system comprising at least one mobile device (2) configured to perform maintenance work within a work area (1) and a control unit (50) configured to perform at least one diagnostic monitoring sequence of the at least one mobile device (2), the diagnostic monitoring sequence comprising the following steps: - Receiving at least one diagnostic parameter from the mobile device (2) that is representative of at least one service or operational status of the mobile device (2), - wireless transmission of at least one diagnostic parameter together with at least one identification parameter of the mobile device (2) to a remote infrastructure, - Comparing the diagnostic parameter with a respective predefined value or interval, - if at least one diagnostic parameter differs from the predefined value or is outside the predefined interval, suggest to an affected user or execute, after confirmation by an affected user, at least one technical assistance program for the mobile device (2), wherein the identification parameter is a unique code or serial number that is representative of the mobile device (2) transmitting the identification partner, wherein the system comprises a plurality of mobile devices configured to perform maintenance work in respective work areas, wherein the control unit (50) is configured to individually perform a diagnostic monitoring procedure for each mobile device of the plurality, wherein the technical assistance program of the mobile device (2) includes the step of identifying, starting from the at least one diagnostic parameter, at least one component of the mobile device (2) that is in a state of actual failure or malfunction or is susceptible to incipient failure or malfunction, wherein the remote infrastructure includes at least one storage device configured to store the following: - at least one of the predefined value and the predefined interval, and - at least one mapping rule between the diagnostic parameter and at least one technical assistance program, and wherein the diagnostic parameter includes at least one value which is in particular acquired or obtained or estimated in real time and is representative of an operating condition of an on-board battery of the mobile device (2) and / or of an electrical current draw from the on-board battery under a predefined condition. [2] System according to claim 1, wherein the identification parameter is representative of a type of mobile device (2) and / or of one or more components, in particular mechanical and / or electrical components that are part of the mobile device (2). [3] System according to claim 1 or claim 2, wherein the remote infrastructure provides a single remote server (200), the remote server being configured to receive the identification parameters and diagnostic parameters of each mobile device of the plurality via a remote communication network. [4] System according to any one of claims 1 to 3, wherein the remote server (200) is further configured to: - Receiving, via the remote communications network, the information and / or usage data of each mobile device of the multitude to receive and - To generate information and / or statistical data relating to the use of mobile devices by the respective users and possibly information and / or historical data relating to the development of such information and / or statistical data over time. [5] System according to any one of claims 1 to 4, wherein the technical utility program of the mobile device (2) comprises the step of performing a spare parts inventory management operation according to this identification, wherein the management operation is in particular an automatic procurement of at least one component intended to be installed on the mobile device (2) to replace the component that has been identified as being in an actual failure or malfunction state or is susceptible to incipient failure or malfunction. [6] System according to any one of claims 1 to 5, wherein the predefined value or predefined interval comprises at least one reference value of the diagnostic parameter which is in operating conditions of the mobile device (2) which are considered to be free from actual or incipient failures and / or malfunctions. [7] System according to claim 6, wherein at least one tolerance threshold is associated with the predefined value and wherein the predefined interval is limited by at least one extreme value, wherein the tolerance threshold and / or the extreme value is representative of operating conditions of the mobile device (2) which are considered to be limit operating conditions with respect to the presence and / or the onset of one or more faults of the mobile device (2). [8] System according to any one of claims 1 to 7, wherein the mobile device (2) comprises a self-propelled lawn mower, in particular a robotic lawn mower, or a manually propelled lawn mower, self-propelled or hand-propelled, in particular a lawn tractor. [9] System according to claim 8, wherein the mobile device (2) comprises first wireless communication facilities configured to transmit at least the diagnostic parameter from a distance, the control unit (50) comprising a first controller (5) carried on board the mobile device (2) and configured to instruct the first communication facilities to wirelessly transmit the identification parameter and the diagnostic parameter to the at least one remote infrastructure. [10] System according to claim 9, wherein the first wireless communication devices comprise an Internet module configured to communicate with the remote infrastructure via an Internet network, wherein the remote infrastructure is in particular a remote server (200). [11] System according to claim 9 or claim 10, wherein the at least one remote infrastructure comprises a remote device (100) comprising: - second wireless communication devices (102) configured to connect functionally with the first communication devices of the mobile device (2), - a second control (105) of the control unit (50), which is directly supported by the remote device (100), - at least one user interface (101), comprising in particular a screen and configured to make at least one information element relating to the mobile device (2) explicit, in particular to display at least one of the diagnostic parameter and / or the identification parameter on the screen, wherein the first controller (5) is configured to instruct the first communication devices to wirelessly transmit the identification parameter and / or the diagnostic parameter to the second communication devices of the remote device (100). [12] System according to claim 11, wherein the first communication devices of the mobile device (2) and the second communication devices of the remote device (100) are configured to communicate with each other within a maximum radius of less than 100 m, in particular less than 50 m, especially less than 25 m. [13] System according to claim 11 or claim 12, wherein the first communication devices of the mobile device (2) and the second communication devices of the remote device (100) are configured to communicate with each other via a local communication network, in particular via radio frequency, in particular according to a WiFi protocol or according to a Bluetooth protocol. [14] System according to any one of claims 11 to 13, wherein the remote infrastructure comprises a remote server (200) and a remote service device (100a) that is separate from the remote device (100), wherein the second communication devices (102) of the remote device (100) are configured as follows: - functional connection to the remote server (200) via a remote communication network, in particular an Internet network, and - Sending the identification parameter and / or the diagnostic parameter of the mobile device (2) to the remote server (200) via the remote communication network; and wherein the remote service device (100a) comprises the following: - a service control (105a), - a service user interface (101a) that is functional with the service control (105a) and includes a screen, - Service communication devices (102a) configured to communicate with the remote server (200) through the remote communication network, wherein the service controller (105a) is configured to explicitly display the diagnostic parameter and / or the identification parameter on the service user interface (101a), in particular to display at least one of the diagnostic parameter and the identification parameter on the screen of the remote service device (100a), and wherein the remote server (200) is configured to allow communication, in particular bidirectional communication, between: - the remote device (100) and the remote service device (100a), wherein the remote server (200) is configured to send the identification parameter and / or the diagnostic parameter of the mobile device (2) to the remote service device (100a) and / or - the remote service device (100a) and the first communication facilities of the mobile device (2), wherein the first communication facilities of the mobile device (2) are configured to communicate with the remote server (200) through the remote communication network. [15] System according to claim 14, wherein the remote service device (100a) is configured as follows: - Receiving setup instructions via the service user interface (101a), wherein the setup instructions are representative of an installation procedure or installation steps of the mobile device (2) within the work area (1), - Sending the setup instructions to the mobile device (2) by the remote server (200) and optionally by the first communication devices and by the second communication devices of the mobile device (2) and the remote device (100), respectively, wherein the first communication devices of the mobile device (2) are configured as follows: - Receiving the setup instructions, - Sending the setup instructions to the first control (5) of the mobile device (2), in particular to determine the installation of the mobile device (2) within the work area (1). [16] System according to claim 15, wherein the setup instructions include at least one of the following: - a geographical definition of the work area (1) in which the mobile device is to carry out maintenance work, in particular the geographical definition, including GNSS coordinates, especially GPS coordinates, that are representative of the work area (1) and / or a boundary of the work area (1); - a virtual map of the work area (1); - an area extension of the work surface (1); - at least one piece of technical information regarding the on-board battery, in particular the energy capacity of the on-board battery; - a predefined height of the payload of the mobile device (1) in relation to the ground; - a reset of one or more counters of the mobile device (2) which are suitable for recording an operating period of one or more components of the mobile device (2) during an operating state; - a geographical position of a docking station (31) within the work area (1) configured to allow a charge level of the on-board battery of the mobile device (2). [17] System according to any one of claims 1 to 16, wherein: - the diagnostic parameter includes at least one value that is recorded, obtained or estimated in real time and is representative of an operating condition or operating time with respect to one or more components of the mobile device (2) and / or the presence and / or occurrence of one or more faults of the mobile device (2), and - the predefined value or predefined interval includes at least one reference value of the diagnostic parameter that can be found under operating conditions of the mobile device (2) which are considered to be free from actual or incipient failures and / or malfunctions. [18] System according to claim 17, wherein at least one tolerance threshold is associated with the predefined value and wherein the predefined interval is limited by at least one extreme value, wherein the tolerance threshold and / or the extreme value is representative of operating conditions of the mobile device (2) which are considered to be limit operating conditions with respect to the presence and / or the onset of one or more faults of the mobile device (2). [19] System according to any one of claims 1 to 18, wherein the control unit (50) is configured to perform a predictive diagnostic procedure, at least on the basis of the diagnostic parameter, which is suitable for defining a program for preventive technical support of one or more components of the mobile device (2) and / or for planning a predictive technical support program for one or more components of the mobile device (2), in particular on the basis of the operating time of one or more components of the mobile device (2) and / or on the basis of data that are representative of a wear state of one or more components of the mobile device (2), and / or on the basis of an energy parameter that is representative of a current absorbed by the on-board battery under a predefined condition,where, in particular, a deviation of the energy parameter outside an interval of expected values ​​is representative of an actual or incipient failure. [20] System according to claim 19, wherein the control unit (50) is configured to display on the user interface of the mobile device (100) and / or the remote service device (100a) an estimated period of time within which one or more technical assistance operations of this mobile device (2) are to be carried out. [21] System according to any one of claims 1 to 20, wherein the mobile device (2) comprises at least one detector for at least one parameter and / or index that is representative of the condition of the work area (1), in particular of the health and / or hydration state of the lawn of the work area (1), preferably a detector for a spectral parameter and / or index such as the NDVI index (Normalized Difference Vegetation Index) and / or the NDRE index (Normalized Difference Red Edge) and / or the WBI (Water Band Index), wherein the control unit (50) is further configured as follows: - Receiving from the mobile device (2) the parameter and / or index that is representative of the state of the work surface (1), - wireless transmission of the parameter and / or index that is representative of the state of the work surface (1) to the remote infrastructure. [22] System according to claim 21, wherein the mobile device (2) comprises at least one position detector of the mobile device (2) in the work surface and the control unit (50) is further configured to associate the relative detected position with the at least one parameter and / or index that is representative of the state of the work surface (1), the system is configured as follows: - Generating a virtual map of the condition of the work area (1), in particular the health and / or hydration condition of the turf of the work area (1), possibly together with one or more suggestions for improving the condition of the work area (1) or certain areas of the work area (1), in particular one or more suggestions for carrying out a mowing operation and / or water and / or fertilizer application operation, and - Expressing through the user interface (101) and / or through the service user interface (101a), in particular displaying the virtual map of the state of the work surface (1) and possibly one or more suggestions on the screen of the remote device (100) or the remote service device (100a). [23] System according to any one of claims 1 to 22, wherein the control unit (50) is further configured as follows: - Generating at least one piece of information and / or a usage date of the mobile device (2), in particular about the duration of use and / or the frequency of use and / or the time of use and / or the feed rate and / or the cutting height and / or the cutting mode and / or the energy consumption, - wireless transmission of the mobile device's (2) information and / or usage data to the remote infrastructure.

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