EP1800274B1 - Ordinateur portable pour des taches de navigation - Google Patents

Ordinateur portable pour des taches de navigation Download PDF

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Publication number
EP1800274B1
EP1800274B1 EP05802726.9A EP05802726A EP1800274B1 EP 1800274 B1 EP1800274 B1 EP 1800274B1 EP 05802726 A EP05802726 A EP 05802726A EP 1800274 B1 EP1800274 B1 EP 1800274B1
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EP
European Patent Office
Prior art keywords
computer
portable computer
reception
traffic information
use according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP05802726.9A
Other languages
German (de)
English (en)
Other versions
EP1800274A2 (fr
Inventor
Martin Lauterbach
Maria-Dolores Dr. Rer. Nat. Soriano-Lopez
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Inventis GmbH
Original Assignee
Soriano-Lopez Maria-Dolores
Inventis GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Soriano-Lopez Maria-Dolores, Inventis GmbH filed Critical Soriano-Lopez Maria-Dolores
Publication of EP1800274A2 publication Critical patent/EP1800274A2/fr
Application granted granted Critical
Publication of EP1800274B1 publication Critical patent/EP1800274B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/091Traffic information broadcasting
    • G08G1/093Data selection, e.g. prioritizing information, managing message queues, selecting the information to be output
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/091Traffic information broadcasting
    • G08G1/094Hardware aspects; Signal processing or signal properties, e.g. frequency bands
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04HBROADCAST COMMUNICATION
    • H04H20/00Arrangements for broadcast or for distribution combined with broadcast
    • H04H20/02Arrangements for relaying broadcast information
    • H04H20/08Arrangements for relaying broadcast information among terminal devices
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04HBROADCAST COMMUNICATION
    • H04H20/00Arrangements for broadcast or for distribution combined with broadcast
    • H04H20/53Arrangements specially adapted for specific applications, e.g. for traffic information or for mobile receivers
    • H04H20/55Arrangements specially adapted for specific applications, e.g. for traffic information or for mobile receivers for traffic information
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04HBROADCAST COMMUNICATION
    • H04H20/00Arrangements for broadcast or for distribution combined with broadcast
    • H04H20/53Arrangements specially adapted for specific applications, e.g. for traffic information or for mobile receivers
    • H04H20/61Arrangements specially adapted for specific applications, e.g. for traffic information or for mobile receivers for local area broadcast, e.g. instore broadcast
    • H04H20/62Arrangements specially adapted for specific applications, e.g. for traffic information or for mobile receivers for local area broadcast, e.g. instore broadcast for transportation systems, e.g. in vehicles
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04HBROADCAST COMMUNICATION
    • H04H2201/00Aspects of broadcast communication
    • H04H2201/10Aspects of broadcast communication characterised by the type of broadcast system
    • H04H2201/13Aspects of broadcast communication characterised by the type of broadcast system radio data system/radio broadcast data system [RDS/RBDS]

Definitions

  • the invention relates to a designed for mobile use, portable computer for navigation tasks.
  • Such a portable computer contains at least one processor, at least one memory unit and at least one user interface and at least one externally accessible data interface. It can be temporarily operated without external power supply via a power supply located in the housing.
  • the computer has a built-in, suitable for map display screen as a user interface that allows color representations, a built-solid-state memory of at least 3 MB, which stores data without mechanically moving parts and without power supply preserves the memory contents.
  • the portable computer weighs less than 300 grams after removal of all tool-less parts that are not required for proper operation.
  • Small computers designed for mobile use can be used for navigation tasks in motor vehicles, other means of transportation and also for pedestrians.
  • these devices require information from the outside, such as the current geo-coordinates or motor vehicles information about the current traffic situation.
  • the coordinates can be determined via satellite receivers that use, for example, the Global Positioning System (GPS).
  • Traffic information is available via various information channels. This can be, for example, the Traffic Message Channel (TMC) or information offered via Internet or mobile radio.
  • Further navigation supporting data are eg Acceleration values in different axis directions or around different axes.
  • the aim is to simultaneously optimize the oppositely oriented parameters "low installation effort” and "high functionality".
  • the installation effort is determined by the number and complexity of the cables to be laid for power supply, antenna feed and data connection, by the compatibility of the required connections and by the space required and required structural changes to the vehicle.
  • the functionality is determined by the reception quality, which depends strongly on the orientation of the antennas or the usability of existing antenna signal lines. Further quality features are the fast availability, completeness and accuracy of the received information. In particular, when coupled via radio to the computer a timely operation of the receiver receiver is advantageous even before the coupling.
  • Previously known receiving elements or sensors are to be connected via various cables to the processing computer. Subsequent installation requires the installation of additional cables with vehicle - specific built - in components for a broadcast antenna and for the power supply and dependent on the type of computer used for navigation connectors and electrical interfaces for the forwarding of the acquired digital useful signal.
  • the EP 1 347 428 A1 discloses a commercially available handheld computer with a user interface, such as a touch screen, a processing unit, a memory, and a hardware interface.
  • a separate port device is connected to a single bidirectional host interface with the sole hardware interface of the handheld computer either via a patch cable or via an infrared link or via a radio link.
  • the connection device has hardware interfaces to which a position data receiver in the form of a GPS receiver module and a traffic data receiver in the form of an FM tuner with a downstream RDS decoder module are connected.
  • connection device uses a microprocessor to combine the digital data of the GPS receiver module and of the traffic data receiver into a single serial data signal stream which can be read in a memory area of the handheld computer in a decoder program.
  • the DE 100 08 454 A1 discloses a compact navigation device, in particular for use in the motor vehicle, in which commercially available devices are arranged in a housing frame, namely a mobile data processing unit, for example in the form of a personal organizer, a position determination unit in the form of a GPS receiver, a mobile phone and a separate Control unit with data input means in the form of a function key block.
  • a mobile data processing unit for example in the form of a personal organizer
  • a position determination unit in the form of a GPS receiver for example in the form of a personal organizer
  • a mobile phone for example in the form of a personal organizer
  • a separate Control unit with data input means in the form of a function key block.
  • the navigation device is connected to the vehicle electrical system and vehicle power, for example via the cigarette lighter. Furthermore, a coupling can be made to an existing car radio with RDS and TMC signals. The arrangement therefore assumes that the existing radio receiver can receive traffic information, eg, the Radio Data System (RDS), and has a suitable interface for transferring it to the one used Personal Organizer features. Finally, connections for the coupling of external antennas are provided. The TMC data from the existing car radio will be taken into account when calculating the recommended route.
  • RDS Radio Data System
  • the US 6 301 855 B1 discloses a designed for mobile use, portable computer for navigation tasks, namely a PDA in the housing a GPS receiver and a GPS antenna are integrated.
  • the PDA has a transceiver unit which is connected via a line to the processor of the PDA.
  • the function of the transceiver unit is to transmit navigation data to another PDA or to receive navigation data from the other PDA or to exchange it bidirectionally with a communication network.
  • the navigation data includes cartographic data including data on various locations and on the roads connecting the various locations.
  • the two PDAs exchange wirelessly via their respective transceiver units the navigation data and Position information. Data transmission between the two PDAs can be via infrared, RF, cellular, Bluetooth and microwave signals.
  • the invention has for its object to provide a designed for mobile use, portable computer for navigation tasks, the position and traffic information taken into account in the navigation.
  • the input data provided by the processor-controlled receiving unit for navigation includes information about the current geographical position, e.g. in the form of longitude and latitude coordinates, possibly acceleration values recorded with a corresponding sensor in the vehicle, as well as digital traffic information offered by traffic information centers via the Internet and radio.
  • the invention may also be used to receive further information, e.g. Weather information, to be used.
  • the navigation data is provided to small computers designed for mobile use, e.g. In the form of personal digital assistants (PDA) or powerful mobile phones provided via specially designed interfaces and further processed there for navigation tasks.
  • PDA personal digital assistants
  • powerful mobile phones provided via specially designed interfaces and further processed there for navigation tasks.
  • the navigation data required for the use of navigation systems are detected via corresponding receiving elements for radio signals or sensors.
  • receivers designed for retrofitting usually show a poorer quality of the delivered data compared to permanently installed systems, since compromises are made with regard to the reception properties.
  • the portable computer according to the invention is a combined device which has both the characteristics of a mobile small computer and the position receiver supported by a traffic information receiver.
  • the portable computer is a small handy computer for personal use, which contains the complete receiving unit with the necessary for an accurate traffic-dependent navigation traffic information receiving elements in combination with a position receiver firmly integrated in the computer case.
  • Small mobile computers designed for mobile use e.g. Personal Digital Assistants (PDA) and mobile phones are characterized by their handiness and increasingly also by their performance, whereby their inventive use as a navigation computer is possible.
  • PDA Personal Digital Assistants
  • a particular advantage lies in their mobile and versatile application possibilities.
  • Traffic information is provided by traffic information centers via various channels. This information can be retrieved via the Internet and thus also via a wireless mobile Internet access from the moving vehicle from the provided servers. In this case, the information from each participating receiver, e.g. Called individually via GPRS at arbitrary times. Since this function can already be fulfilled with available mobile telephones without additional technical effort, this approach initially appears cost-effective and simple. However, due to the data connection to be set up individually by each vehicle and with each request, this is quite complicated and thus very costly in the long run.
  • broadcasting In contrast to the point-to-point connection, broadcasting typically builds unidirectional links from many parallel points to many receiving points from one transmission point.
  • a typical broadcast is that of radio broadcasting a program to a large number of listeners.
  • Another typical feature of the broadcast connection is that the transmission is unidirectional from one sender to many receivers.
  • One particular type of broadcasting is unidirectional cell broadcasting in mobile radio cells. Again, information is transmitted from one transmitter to many receivers. It is different from bidirectional point-to-point data connections via mobile telephony, which usually also lead to significantly higher costs.
  • the invention is based on the reception of traffic information transmitted over the radio.
  • TPEG eg according to CEN ISO TS 18234 ff and ISO TS 24530 ff / www.tpeg.org
  • another Procedure can be used.
  • coding based on the TMC method will be replaced by TPEG coding, which eliminates certain limitations of the TMC method. It is also expected that the analog broadcast transmission as a carrier will be fully digitized, e.g. the DAB or the DVB-T method are replaced.
  • the analog FM broadcast signal is usually transmitted in the frequency range between 70 and 120 MHz.
  • the transmission over portable radio cells is realized with frequencies around 900 MHz, 1800 MHz or over 2000 MHz.
  • Digital radio (DAB) is for example in the ranges 174 MHz to 230 MHz and 1450 MHz to 1470 MHz.
  • the receiving element must be designed accordingly for these frequency ranges.
  • Geographic coordinates can be e.g. using position information receivers that use satellite systems such as GPS (Global Positioning System), Galileo or Glonass. Position receivers are currently mostly designed as receivers for the GPS system. Common devices have a serial interface for point-to-point connections.
  • GPS Global Positioning System
  • Galileo Galileo
  • Glonass Glonass
  • position information receivers which evaluate the signals of terrestrial reference transmitters instead of satellites. This happens e.g. by determining the distance to mobile radio transmitting stations from the signal propagation time and referencing the known geographical coordinates of the respective transmitting station.
  • the positioning receivers used for this purpose are currently even less accurate than the satellite-based versions.
  • the receiving unit comprises at least one receiving element for acceleration information, which is coupled to the computer-internal interface, and occupies no externally accessible data interface of the computer.
  • the detection and processing of the acceleration performed by the vehicle provides a possibility to computationally determine position changes.
  • the detected with an acceleration sensor Movement changes, starting from the last known motion vector, charged with the current distance to be traveled and from this closed to the vehicle position.
  • the measured acceleration is integrated over time. This results in the speed change over the same time in the direction of acceleration.
  • the vehicle speed results from the speed at the beginning of the integration and the calculated speed change.
  • a change in position can be calculated from the original position at the beginning of the measurement and the integral of the velocity over time. As long as the vehicle is on a given route, a change in position along this route can be assumed.
  • acceleration values in several axis directions or changes in angular velocity about several axes can in turn be measured acceleration values in several axis directions or changes in angular velocity about several axes and include in the calculation.
  • the acceleration in the direction of travel is determined more accurately.
  • FIGS. 1 a, 1 b and 2 Other advantages and effects will become apparent from the dependent claims and the following description of the FIGS. 1 a, 1 b and 2 :
  • a receiving unit (1) is integrated. This is provided for traffic information receiving elements (2) in combinations thereof with receiving elements for position (24) or position (24) and acceleration (48).
  • the broadcast signal of an antenna (28) is received via a radio receiver (34) ( Fig. 2 ).
  • a decoder (35) the digital traffic information obtained and forwarded via a digital interface (37) to an interface (50), which is designed as a computer-internal and externally inaccessible interface.
  • an interface (50) which is designed as a computer-internal and externally inaccessible interface.
  • a particularly compact design is achieved in that the receiving antenna (26) for position information (24) is integrated directly into the housing of the computer (5).
  • Fig. La and b show that the receiving unit (1) is combined with a computer (5) in a unit, for which the receiving unit occupies no free slot and no externally accessible interface of the computer (5).
  • the computer (5) in this embodiment at least a processor (8), a memory (6) and an operator interface (22). Advantages result from the fact that except an antenna connection no further cables are required.
  • the receiving element (2) with the antenna connection (28) is fitted in the housing which contains the computer (5) and is provided with the mobility characteristics defined above (weight, size, interfaces, mobile power supply, etc.), integrated.
  • the design is suitable as an I2C interface.
  • the invention provides that further externally accessible interfaces (7) and (15) or a slot for memory expansions (38) on the computer (5) are not occupied by the interface (37) of the receiving element (2).
  • the traffic information receiving element (2) is designed for analog broadcasting. It contains, as in Fig. 2 shown, an FM receiver (34), referred to as a tuner, and an RDS decoder (35).
  • Position information receivers particularly in the form of GPS receivers, are often designed to automatically execute and perform all of the arithmetic operations necessary to calculate the current latitude, longitude, and latitude coordinates from received Global Positioning System satellite signals with a standardized protocol to the receiving computer (5) forward.
  • the mobile computer (5) When equipped with a receiving element (48) this is also connected via interface (37) and (36) to the computer (5).
  • the mobile computer (5) When the mobile computer (5) is implemented with a receiving element (48) integrated directly inside the computer, it is connected via the computer-internal interface (50).
  • This sensor can e.g. in the case of the receiving element (48) be an acceleration sensor that detects accelerations in translational or rotational form for one or more axes. In this case, the data is evaluated to assist the position detection of the position sensing receiver, e.g. if he has no reception.
  • the direction of travel and speed changes are detected and forwarded to the computer (5), which is thus enabled, changes in position from the last known coordinates and the last known velocity vector by Calculation of the translational or rotary acceleration values.
  • a protective device is provided.
  • key combinations must be interrogated before the start of the data communication, which have been introduced as data into the computer (5) fixedly and immutable during production. Only after determining that they are authorized key combinations, the communication is unlocked.
  • the authorization of the key combinations occurs e.g. by registration and generation of a release key at the manufacturer, which allows a connection recording only in combination with the embossed in the production key combinations.
  • the receiving unit (1) with traffic information receiving elements (2) enable a method for combining the position data required for vehicle navigation with traffic information. This makes it possible to improve the navigation by including the traffic situation and thus the limitation of the driving speed on certain routes or even blocking certain routes in the route planning.
  • the procedure described below leads to an optimization of the route taking into account the traffic situation.
  • the cheapest route is first calculated and checked with the traffic information, if there are traffic problems on the determined route. If there are any disturbances, a reduced driving speed for the disturbed areas attributable to the reported traffic disturbances is assumed. This will now calculate a new route and check again if there are any traffic problems on the newly calculated route until there is no improvement the route guidance is more accessible.
  • the traffic disruptions of all routes in question can be taken into account. This offense is more memory intensive than the one described above.
  • a further method when using small portable computers (5) for navigation in the presence of traffic information, opens up the possibility - based on the distance to be covered and the desired time at which the route should be traveled - to determine the optimum departure time. For this purpose, a lead time can be added. This allows the determination of an appropriate alarm time point at which the computer (5), which need not be in the vehicle at this time, gives a signal reminding of the imminent start of the journey.
  • the traffic information used for the calculation is received via a receiving element (2). It is advantageous that the computer (5) is so easy to transport that the user can take him out of the vehicle so that he also registers the alarm message when he is not in the vehicle.
  • the alarm signal from the receiving unit (1) can also be sent as a short message with a coupled mobile radio unit to a mobile phone of the user, so that it is reminded of the journey, as soon as it makes sense due to planned route and traffic.
  • computer (5) and receiving unit (1) can remain in the vehicle.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Claims (13)

  1. Ordinateur (5) portable conçu pour une utilisation mobile pour des tâches de navigation, avec un boîtier, l'ordinateur portable
    1.1. contenant au moins un processeur (8), au moins une unité de mémoire (6) et au moins une interface utilisateur (22),
    1.2 contenant au moins une interface de données (15) accessible par l'extérieur,
    1.3 étant exploitable temporairement également sans alimentation électrique extérieure, par l'intermédiaire d'une alimentation électrique (45) située dans le boîtier,
    1.4 comportant en tant qu'interface utilisateur (22) un écran (46) intégré, adapté à la reproduction de cartes qui permet des représentations en couleurs,
    1.5 contenant une mémoire Solid-State (47) fixement intégrée d'au moins 3 mégaoctets qui mémorise des données sans pièces mécaniquement mobiles et qui conserve le contenu de la mémoire sans apport d'électricité et
    1.6 après retrait de toutes les pièces amovibles sans outil et non requises pour une exploitation selon la vocation pesant moins de 300 grammes,
    1.7 l'ordinateur (5) comportant une unité de réception (1) de données de navigation commandée par processeur,
    1.8 l'unité de réception (1) comprenant au moins un élément récepteur (2) d'informations de trafic et au moins un élément récepteur (24) d'informations de position,
    1.9 l'élément récepteur (2) d'informations de trafic étant installé pour réceptionner des informations de trafic transmises de manière unidirectionnelle par la radio,
    1.10 l'élément récepteur (2) d'informations de trafic comportant un récepteur radio (34) pour réceptionner des signaux radio analogiques ainsi que des informations de trafic transmises par l'intermédiaire des signaux radio analogiques, un décodeur (35) qui est installé pour décoder des données du Radio-Data-System (RDS), pour obtenir les informations de trafic codées numérique et une interface numérique (37) pour retransmettre les informations de trafic codées numérique à une interface (50) interne à l'ordinateur,
    1.11 l'élément récepteur (2) d'informations de trafic étant couplé à l'interface (50) interne de l'ordinateur et
    1.12 l'unité réceptrice (1) étant intégrée dans le boîtier de l'ordinateur (5),
    1.13 l'élément récepteur (2) d'informations de trafic étant intégré dans le boîtier de l'ordinateur (5) avec un raccordement d'antenne (28), aucun autre câble n'étant nécessaire, à l'exception du raccordement d'antenne,
    1.14 une antenne réceptrice d'information de position (24) étant intégrée dans le boîtier de l'ordinateur (5).
  2. Ordinateur portable conçu pour une utilisation mobile selon la revendication 1, caractérisé en ce que l'unité réceptrice (1) comprend au moins un élément récepteur (48) d'informations d'accélération qui est couplé à l'interface (50) interne de l'ordinateur et qui n'occupe aucune interface de données (15) accessible par l'extérieur de l'ordinateur.
  3. Ordinateur portable conçu pour une utilisation mobile selon la revendication 2, caractérisé en ce que l'élément récepteur (48) d'informations d'accélération comporte un capteur d'accélération.
  4. Ordinateur portable conçu pour une utilisation mobile selon la revendication 2 ou la revendication 3, caractérisé en ce que l'élément récepteur d'informations d'accélération (48) détecte des modifications de la vitesse dans au moins une direction d'essieu et/ou des modifications de la vitesse angulaire autour d'au moins un essieu.
  5. Ordinateur portable conçu pour une utilisation mobile selon l'une quelconque des revendications 2 à 4, caractérisé en ce qu'en supplément des éléments récepteurs (2, 24, 48) d'informations de trafic, d'informations de position et d'informations d'accélération, un élément récepteur (49) détectant des informations supplémentaires est contenu dans l'unité réceptrice (1).
  6. Ordinateur portable conçu pour une utilisation mobile selon l'une quelconque des revendications 1 à 5, caractérisé en ce que l'ordinateur (5) contient des programmes logiciels à mémoire résidente pour la gestion de tâches, de rendez-vous et de courriels.
  7. Ordinateur portable conçu pour une utilisation mobile selon l'une quelconque des revendications 1 à 6, caractérisé en ce que l'ordinateur (5) contient un dispositif de sélection, ainsi qu'une unité émettrice/réceptrice de téléphonie mobile.
  8. Ordinateur portable conçu pour une utilisation mobile selon l'une quelconque des revendications 1 à 7, caractérisé en ce que l'ordinateur (5) peut s'installer avec une fixation dans la zone du tableau de bord de véhicules automobiles et se fixer de manière amovible sans utilisation d'un outil.
  9. Ordinateur portable conçu pour une utilisation mobile selon l'une quelconque des revendications 1 à 8, caractérisé en ce que la mémoire Solid-State (47) est une mémoire flash.
  10. Ordinateur portable conçu pour une utilisation mobile selon l'une quelconque des revendications 1 à 9, caractérisé en ce que l'élément récepteur (24) d'informations de position est conçu en tant que récepteur par satellite d'informations de position.
  11. Ordinateur portable conçu pour une utilisation mobile selon l'une quelconque des revendications 1 à 10, caractérisé en ce que l'élément récepteur (24) d'informations de position est conçu en tant que récepteur d'informations de position pour des signaux d'émetteurs terrestres de référence.
  12. Ordinateur portable conçu pour une utilisation mobile selon l'une quelconque des revendications 1 à 11, caractérisé en ce que l'ordinateur comporte un transmetteur de signaux qui rappelle le démarrage imminent d'un voyage, sous considération d'informations de trafic, du trajet à parcourir et de l'heure souhaitée à laquelle le trajet doit être parcouru.
  13. Ordinateur portable conçu pour une utilisation mobile selon l'une quelconque des revendications 1 à 12, caractérisé en ce que l'élément récepteur (2) réceptionne des signaux radio codés TMC.
EP05802726.9A 2004-10-06 2005-10-06 Ordinateur portable pour des taches de navigation Not-in-force EP1800274B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004048894 2004-10-06
PCT/DE2005/001789 WO2006037316A2 (fr) 2004-10-06 2005-10-06 Unite de reception regulee par processeur pour donnees de navigation et procede de transmission et de traitement de donnees de navigation

Publications (2)

Publication Number Publication Date
EP1800274A2 EP1800274A2 (fr) 2007-06-27
EP1800274B1 true EP1800274B1 (fr) 2013-06-05

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EP05802726.9A Not-in-force EP1800274B1 (fr) 2004-10-06 2005-10-06 Ordinateur portable pour des taches de navigation

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US (1) US20090058679A1 (fr)
EP (1) EP1800274B1 (fr)
WO (1) WO2006037316A2 (fr)

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EP1800274A2 (fr) 2007-06-27
US20090058679A1 (en) 2009-03-05
WO2006037316A2 (fr) 2006-04-13
WO2006037316A3 (fr) 2006-07-27

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