DE2228778A1 - METHOD AND DEVICE FOR INDEPENDENT MACHINING OF A LIMITED AREA - Google Patents

Description

The invention relates to a method for automatic Editing of a limited area, in which the area run over by a processing device that automatically changes its running direction at the surface boundaries will.

One such method that eliminates the need for an operator for the processing apparatus is known for easy mowing. The lawnmower swings under a certain limit when it reaches the limit of the lawn area Angle and runs again diagonally into the base

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surface until it hits a gronze again, and so forb. This results in a disordered trajectory, criss-cross over the race, with which inevitably some Area areas are often driven over, others cannot be reached. Un as high as possible processed curses - To achieve a share, the lawnmower has to be economically viable kept in operation for a long time,

.Furthermore, "mobile" obstacles such as garden furniture, · Hasensprenger or toys, either the lawn mower stop or cause a further spread of the orbits. It can be clearly seen that this is known Process cannot be transferred to processing equipment for street or building cleaning. On the named area is constantly with a large number of mobile, i.e. not fixed in their location Obstacles to be expected. Even if their removal were theoretically possible, it would be working time that may exceed the machining time saved by the process could. Processing devices that run in a disorderly manner are not only uneconomical for most such surfaces, but also annoying or obstructive. For areas with an irregular borderline, such as protrusions, Niches, etc., there is a risk that these areas will not be processed. -. ■ - ■.

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In the known lawnmower, in order to achieve its pivoting movement, it is also necessary for the boundary to be marked by a buried, electrically radiating di'aht which causes the lawnmower to pivot. Such a border wire is required not only for the outer contours of the lawn, but also, if necessary, for flower beds or trees that are not to be seen within the outside area , even on streets it is possible for me to lay an electrically charged boundary wire under the ground or to attach a similar directional andern.de mark.

The object of the invention is to create a method of the type described at the outset, which is economical Way enabled a uniform and essentially complete processing of the surface

The object is achieved according to the invention in that the machining device covers the surface according to a machining program runs over in a predetermined path sequence that the processed surface areas during the processing process and / or-found surface boundaries are entered into a memory that after completion of the processing sprοgrammes on the memory according to a search program after unprocessed surface

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are enough and the processing device for processing this surface area according to your processing program is initiated.

With this procedure, the eriinärngsgerr-äß guarantees Batiienfoilge inl / ä ± inaung with the query of the memory after processed Surfaces that overlap, i.e. multiple Edits to be avoided. This saves working time, energy and, if necessary, fuel ^ like s.B. Detergent- In addition, the too processing surface is not unnecessarily stressed. The sequence of tracks depends on the type of area and the Specify the type of processing so that no unprocessed surface area remains between the paths; given If necessary, neighboring lanes can be driven in an overlapping manner. The given path sequence alone can however, it does not guarantee the complete processing of an arbitrarily limited area. With an external The boundary with indentations and bulges, niches and the like is not the total surface area for a given sequence of tracks recorded. The same is the case if there are indentations within the surface. Depending on how they are in the path of the path sequence, the machining program can move "behind" them initially form unreachable blind spots. However, these areas do not remain unprocessed, because the process controls itself by saving the processed areas. the Unprocessed areas are on the memory

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ei-recognizable and can be located. It is then single Required. To bring the processing device to the tin-processed surface areas in such a way that it this can be driven over in a predetermined sequence of paths. A "major advantage of the method according to the invention consists in the fact that the area to be machined can be variable. This particularly applies to mobile Obstacles within the area. The relevant image is created anew during each processing operation and the search program ensures that the unprocessed surface areas occurring changing places are found and still processed. Another The advantage is to be seen in the fact that the given Path sequence a uniform processing is largely independent of the starting position of the processing unit.

When you save the "edited areas" it is inevitable that the contour of these areas is saved. Unprocessed surface areas at the edge of the surface are not recognizable in this way. For this purpose, the outer contour of the surface must also be known. Correspondingly, in an advantageous extension of the method according to the invention, the processing device automatically determines the surface boundary according to a contour detection program and the contour of the surface will be saved. The contour detection program can run completely or partially before, after or between the machining program. The procedure in this Shape is advantageous for processing different

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areas with the same device, as well as areas whose shape can change. An example of this is the floor of a building or a floor with several rooms, the doors of which can be open or closed * Furthermore, with the method it is possible without restriction to position the processing device at any point start on the surface au.

The saved outer contour excludes memory areas from the search program that lie outside this contour. In this way it is made possible that with the same memory size on this any surface contours can be stored without the unused memory area burdening or disturbing the search program.

Contours of obstacles within the surface can occur when the processing device hits during the processing program s are determined and saved by switching to the contour detection program, whereupon the machining program is continued. The closed obstacle contours close on the store the enclosed area from the search program. So it cannot happen that one is occupied by an obstacle Area is erroneously "controlled for post-processing.

Areas and contours can be saved as images, i.e. created on the storage area

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In the course of the processing process, for example, a site plan of the total area with entered obstacles.

The planes and contours can be used as data of their Coordinates are saved. Your lingering to steer and control the entire workflow, then takes place with the means of modern data processing *

When determining the surface limit, the processing device in the contour festival st ellprograimn to those to be determined Feel along the contours in given dislocation paths, which contain the following elements: Braking on contact with the contour, reversing essentially borrowed against the direction of impact at least until it disappears of the "contour contact, at the same time or afterwards initiation of a movement .with a transverse component that leads to a leads closed trajectory, which the device at a different angle than the one had on the Would return the point of impact. Pur-this method, a Allowing a device that can be driven to move automatically to feel along a border becomes more independent Protection applied for because it can also be used outside of the method according to the invention. It has several advantages. On the one hand, the device does not have to move along the border in constant ■ contact, but rather the border takes in short sections of the route

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ten to note again. For boundaries that are essentially be perceived optically, electrically or through radiation from the device is a straight line leading along difficult to "accomplish; at limits where direct physical contact occurs, friction resistance, Jamming or damage occurs «The pulses following each other at short intervals each time the boundaries are touched, it is easy to save the boundaries use different types of memory. Corners and curves of the Grerize can be easily derived from -b ^ w. drive around. The device describes along an approximately straight border from a point of impact to next about half of the given dislocation path and then starts on a new one. When moving out An inner right-angled corner is shortened when you drive around an outer, roughly right-angled corner In a corner, the device travels three quarters to almost four quarters of the closed curve, depending on how far the last point of impact was from the corner. The route traveled by the processing device along an approximately straight wall is approximately U-shaped in the case of one of two Arches of the existing dislocation track like a garland, as actually about until the new border contact a U-bend is driven, as is the case with paths with a roughly circular or elliptical shape; for one of two triangles existing dislocation path, the path becomes roughly a sawtooth line, with a rectangular track a row of angular U-porms.

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The device can be in the contour fixing program if after a contour contact and a complete trajectory leading back to the contact point are the same Contour contact does not take place again, stop and switch to the machining program. In this case Was it "the supposed contour was not a fixed obstacle or something like that, but rather a contact with a moving object that has meanwhile changed its place. That is, it can For example, it is a pet that has touched the device. However, it is also possible that the device came across a door that was still closed, but which was quickly opened by an observing person, so that the space behind it is also included in the processing.

With this sequence of movements, the contour can be set in the contour setting program by means of signals given when the border is touched.

The processing device can according to the processing program be moved in approximately parallel paths between mutually opposite borders. By a simple sequence of movements is guaranteed that. the area to be processed is largely covered.

In the same sense, the machining

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advises a reversible main direction of travel for the machining program for the parallel tracks and an approximately perpendicular transverse direction as a constant basic direction embossed for lateral shifting. The lateral shift serves the transition from one Main direction in the next, here parallel in the opposite direction to be traveled "track. The constant one The transverse direction has the advantage that it is clearly established with which directional tendency an overall Machining sequence is going on, so where about the starting point for the entire process is beneficial to choose. Furthermore, the control of the processing program is considerably simplified and a clear one Hesse and control of the movement sequence in a simple way.

For lateral displacement in the embossed transverse direction, the device can be used in the processing program when the border is touched perform the following movement steps: stop, move back roughly in the direction of impact, an arcuate one lateral displacement step to either

a) reached the main direction of travel and in this up to to the new border crossing is continued, where the game repeats until the transfer in The transverse direction is approximately one web width, whereupon the device moves in its main direction of travel if necessary moved back and reversed this; or

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b) a boundary contact during the relocation step a new sequence of movements before reaching the main direction of travel as above, whereby the device tries to move back into the main direction of travel move until they are reached or until a new limit contact, whereupon the game repeats, until the offset in the transverse direction is approximately one web width, whereupon the device moves into its Main direction of travel moved back and reversed. According to this sequence of movements, the processing device probes the one reached from the main direction of travel Limit regardless of. their course along until a continuation of the machining path in the last driven main travel direction or with a lateral offset by about one path width a new machining path in the opposite main travel direction becomes possible. This results in a sequence of movements corresponding to a) if the limit is from the point of impact in the sense of lateral offset at an angle to the direction of impact extends from 90 and above. In this case, the device becomes the main direction of travel after each lateral offset reach again, and, depending on the size of the angle, a shorter or longer route in ' the main direction of travel until it comes back on hits the limit. This sequence of movements remains with a correspondingly longer path in the main direction of travel when the border recedes to form a corner or bulge. A movement sequence according to b) results themselves

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either from the first point of impact from the main drive ™ direction then, the limit in a pointed way: Angle to the direction of impact or if the device is moved laterally after the movement a) before reaching the main direction of travel, it encounters a lateral limit that is either the opposite boundary can be the end boundary of the area, but also just one into the area protruding border area. When feeling around for such a protrusion, the sequence of movements after b) go back to the sequence of movements according to a) when the projection is narrower in the transverse direction is as a web width. In the sequence of movements according to a), the device sees between when it is moved to the side two border contacts traveled path approximately U-shaped, with the two legs approximately parallel to each other and run according to the main direction of travel, but with the leg driven first is only as long as it is necessary to release the limit contact, while the length of the second Schenkels is dependent on the boundary, i.e. equal to or greater than the return movement when driving past one corner can be much larger. In the case of a movement sequence according to b), there are between two boundary contacts Curved tracks of different shape and length, as the direction of impact depends on the boundary changes and thus no parallel legs to

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are expected. However, it is also possible that the path in "both programs stir from a limit to
others from roughly sawtooth or essentially
rectangular paths "exists, depending on the type of the device
embossed for the lateral displacement step
Mobility. In any case, a movement sequence according to the machining program ensures that each
barrier-free relocation railway full of a boundary.
to the opposite one.

For machining equipment that uses a directional tool wear, i.e. cannot work in two directions, the device can when reversing the main direction of travel turn into this.

The machining program can be aborted, x-zenn
the movement of the offset steps against the transverse direction exceeds a predetermined distance. A movement against the transverse direction is necessary when the processing device has scanned along a boundary which extends essentially in the direction of the main travel direction and then has a bend or corner which essentially leads in the direction of the path last processed. This is always the case when
the device the lateral end limit of the processed. Area has reached. But also with T-shaped or hook-shaped ones

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Protruding the border around which the device feels around, or "when moving into niches, such a transverse movement against the embossed transverse direction - in the first case, when reaching the lateral End limit, the movement against the imprinted transverse direction is possible for a very long time, while it is possible with the other mentioned Cases will generally only be a short distance. Therefore, exceeding a predetermined Distance in the imprinted direction

., ■ opposite transverse direction as a criterion for the Considered the end of the surface treatment. Should the mentioned projections or niches dimensions be iron, which also exceed the specified distance, the surface areas that have remained unprocessed as a result become found in the search program and post-processed.

Furthermore, the machining program can be aborted if not within a specified time a predetermined distance is covered or if the contour contact is within a predetermined time does not go away. These cases can occur if the processing device gets stuck has, i.e. does not follow the program of movement in a narrow or angled area and cannot free himself from his position with it.

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After the editing program has ended, the search program switched on. Became the editing program switched off because the processing device has reached the end of the area to be processed, executes the search program for reworking areas that have not yet been processed or, if they are not available, for switching off of the device. If the processing device has got stuck in the manner described above, the general.unprocessed surface areas are present and the processing device is in this way from its Out and led to these areas.

Saving the processed areas, saving the contours and searching for the unprocessed Surface areas can be determined according to the invention Perform procedures in different ways. So it can be done that the optical properties a corresponding memory area can be changed. To save the edited areas analog surface areas are stored on a storage area in terms of their brightness and / or color compared to the unprocessed areas Changed areas. The areas on the other side of the memory are used to save the contours optically shielded, for example by a continuous contour line. To find the unedited Surface areas can be seen differences in brightness or color. . ■

You can also save the edited surface

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rows and / or contours and / or searching for the unprocessed Surface areas are carried out magnetically, thereby v / ird to save the edited FXä ~ chüii areas on appropriate storage areas Magnetic field he flew or changed an existing magnetic field or deleted; to save the contours, will the magnetic conductivity between the two the contours of adjacent storage areas interrupted. Unprocessed areas are on the memory at their? oii different from the other surface areas magnetic properties found.

In a method corresponding to the magnetic method. In a way, the worked surfaces can be made by Indians electrical charges on these surfaces - distinguish them from the unprocessed surfaces through the contours Interrupt the electrical conductivity, and hold unprocessed surfaces to their electrical properties recognize.

During the saving process, the memory area can be queried at the same time or alternately with the saving process The processing is only continued as long as the unprocessed area in the memory is reached. In this way, double processing is avoided, especially during the post-processing where the post-processing Areas are not always surrounded by saved boundaries. It also allows you to query that the correspondence of the respective

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Locations of the processing device on the area and the Some "beorganes on the memory are checked and if necessary can be corrected. A mistake in the. "Match can result in particular from inaccuracies in the processing device, which running inaccuracies in turn can be a consequence of the nature of the soil.

To check the time correspondence between a limit contact of the device and an achievement of a stored contour by the interrogation organ checked who the. Then the leading organ can be stopped and the trailing organ can be tracked. If it is with The lagging organ is the processing device that has not yet reached the surface limit in the century Clear the situation by simply adjusting the processing device.

If the processing device encounters a limit without the interrogator on the. Memory on a registered This can mean two things: The processing device can hit the surface boundary prematurely his and the interrogator lag behind. However, it is also possible that the processing device on the Surface has encountered an obstacle "whose contour has not yet been saved. In the first case, the query

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organ can be retightened while the processing device is waiting; fall eat in second! turn on the Konturensuchprogramra and save the contour of the obstacle. Upon reaching a limit on the surface without reporting a stored contour, the interrogator can decouple the latter and move it further to control the distance to the next stored contour. Since the agreement of the locations has been re-established at the last saved border in the event of a difference found there, the error can only be very large in unusual cases Streclce does not reach a saved contour, this is a criterion for the presence of an as yet unregistered obstacle, since such an obstacle can be located quite close to the stored contour, but in no way closer than the greatest extent of the processing device, otherwise it will already be touched by the contour detection program would have been, the largest expansion of the processing device gives an approximate dimension for the necessary control distance.

As a further criterion for whether it was touched If the limit is a prepared contour, the processing device can and the interrogator for a shape comparison between this touched boundary and a stored one Contour parallel at a specified distance

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"must be moved Form both for the device with the limit and de. " Machining program with the saved contour again result in points of impact. . .

This can be done after the end of the machining program Search for the unprocessed areas in the storage area with the help of intensity differences processed and unprocessed areas are carried out » Such differences in intensity are available in memories that store optically, preferably with direct or indirect light sources, as well as with storage with variable magnetic or electric charge. The intensity differences are 'according to size and direction from at least one to electromagnetic Radiation and / or electrical or magnetic field lines responding to the storage area The probe is at a standstill and after the detection process the probe is activated in accordance with the requirements of the device Movement carried out according to size and direction in the direction of a determined field line gradient on outer storage area moved. The same applies to a probe that is sensitive to optical differences, in particular differences in brightness appeals to. The movement of the probe over the storage area can easily be a synchronous movement of the processing device on the surface cause the processing device to reach and rework unprocessed surface areas.

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Torte ill) aft can the InUensitaosvergleichy in the order their order of magnitude must be recorded «First of all, ■ the larger unprocessed areas reached unc! uacli edited * This allows one. economical processing, since by choosing suitable parameters to kl a ^ under Urostänüen hard to reach, areas on request vo? ti reworking can be excluded.

Searching for unprocessed areas can also be done in a different way. systematic interrogation of the storage area takes place. this is possible with storage of any physical type of effect. It is particularly advantageous "in the case of electronic memories, in which the search of the entire memory area is one very low expenditure of time. The ¥ eg of the inquiry body while searching the entire storage area can depending on the type of memory and the surface shape to be expected for the processing device in question can be chosen from many possibilities.

After the search program has ended, a short tracking path and / or a tracking path consisting of approximately straight sections between the machining device and the unmachined surface area found can be determined in the memory according to a tracking program. The criteria for a particularly advantageous follow-up path result from the type of total area to be processed, as well as from the training and mode of operation of the to carry out the

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Procedure . short ITachführweg without looking at its' course the! 'laugh should be desired. ”On the one hand, there are also possibilities conceivable in which there is an IT tracking path as far as possible should run for a long time in the vicinity of the outer contour, too if it becomes longer as a result, or it is important that the Hachführweg essentially follows the main direction of travel adapts. According to a desired condition the cheapest IT tracking path on dom memory is determined.

The processing device is on the determined IT tracking path led to the unprocessed surface area and processed this. The processing device can thereby the unprocessed area in a position for the machining are brought, the paths according to the machining program between two approximately opposite one another Limits. The processing of the surface area can then automatically according to the processing program run, causing the lateral offset and the reversal of direction by touching the boundaries will.

For unprocessed areas that do not have a corresponding The processing device can have boundaries, but essentially adjoin processed surface areas by querying the memory for the outlines

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of the unprocessed area can be controlled. Advantageous the sequence of movements will also follow the paths roughly corresponding to the machining program, to ensure seamless and efficient processing. . guarantee. If the shape of the unprocessed surface area or criteria related to the nature of the surface and its type of processing, this is unfavorable appear, a different processing route can also be determined for memory-controlled post-processing and driven off.

After editing a found unprocessed what has been the face portion v / ground xv sought and these are actuated in the same way and edited ^r urther unprocessed surface areas.

Each time before the processing of the unprocessed surface section, the embossed transverse direction for the Machining program can be reversed compared to the last machining process. Due to the opposite direction of movement the device can move into surface areas, which because of their unfavorable location in the other Senses of movement are difficult to reach and therefore lead to frequent changes between the machining program and the search program gram would lead.

If the search result is negative, the search for 'Potential-

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differentiated the sensitivity of a search device23 increased and be searched again ο

If the search result is negative, the parameters of a query organ. Depending on the memory _, arb and Y / irkim3swei.se of the query body can do this a Change of direction of movement when searching, a zoom out the bev <e £ in 3 steps or the like "mean, whereby about Unprocessed P3 areas not yet reached can be found. In this way, small and / or far away unprocessed areas are also created recorded. When querying the storage area in systematic Path sequence is a negative search result if the entire storage area is within the outer contour has departed, or when a designated search time has expired is. If the search result remains negative, the search program and the processing device can then be aborted turned off. For some areas of application it can be advantageous to place the processing device in front of the To return the shutdown to a specific starting point, which must be marked on the storage area. can.

In an advantageous further development of the invention Method, the web shapes and / or dimensions for the contour detection program and / or the Machining program before the program run by hand and / or changed program-controlled during the program run can be set in order to achieve an acceleration of the contour scanning.

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Furthermore, the invention provides that a scale factor is set by hand .wird * Lim to adapt the memory size to differently sized areas To use memory efficiently.

The processing device should automatically set these parameters be able to adjust if this appears necessary to free yourself from a stuck position * For example, can be the size of a lateral dislocation b & w. achieved another retreat from one Border must be necessary in order to simultaneously touch the perpendicular borders in a corner avoid. In such cases, the change is triggered by a disrupted program flow.

Another way to get the device out of a stuck To free the situation consists in the fact that the search program automatically starts when the program flow is disturbed is switched on. A disturbed program sequence can, for example, consist in repeating the same over and over again Orbital movement exist at a boundary. It can also be recognizable from the fact that in a certain time a distance of the specified length has not been covered.

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The invention also provides a device for carrying out the method according to the invention a processing device on a drivable chassis, with a limit sensor and one of the Limit sensor influenceable deflection device for the! Undercarriage. According to the invention, the device has a fixed or programmable control for the drive and deflection device of the chassis, a transmission device with a receiving and responsive to the movement of the chassis an input member, at least one memory, which can be connected to the input member, for storing of processed surface areas and / or touched Contours, a query organ looking for unprocessed areas and / or contours in the memory, Transmission elements for coupling the input element with the limit sensor and / or the transmission device and / or the drive, and coupling elements for connecting the query element with the control and / or the drive. -

This device can specify a limited area according to one of a programmable controller Process the program more efficiently and completely than the device for mowing the lawn described above. The pre

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direction can vary depending on its purpose, i.e. the surface to be processed, not only be equipped with different processing equipment, but also with a corresponding landing gear and one or more limit sensors that point to the respective existing limits " speak to. So it is not erfο: τ '' borrowed, as with the well-known lawnmower, specifically e: i: on the existing ones Limit sensor acting limit in! .- υπα of an electrical unplug the charged wire.

According to a preferred embodiment of this invention The device has the receiving element connected to the chassis or the measuring rollers for delivery two for forward ~ ebackward ~ discrimination against one another phase-shifted pulse trains, a phase comparison circuit for the two pulse trains for delivery one calibration signal for each path element covered, a downstream pulse train scaler circuit for stretching, odor compression of the. Pulse train specified distances, an up / down counter zm? Integration dör for one movement in the x-direction generated pulses to generate signals indicating the lateral displacements of the device (■! · /! x, -Ax), as well as a distance calculator with which signals for the distances covered by the device can be derived from the pulse trains are.

With the help of these assemblies, the Determination of the distances covered by the device is possible, in a known manner over

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. ι two mutually phase-shifted pulse sequences, a distance discrimination is made for the movement carried out by the device in each case. A downstream pulse train scaler circuit also enables a change in scale, so that especially when a storage area of a certain size is assigned to the area to be processed by the device, a change in scale can take place in such a way that with the storage area available, the greatest possible resolution of the individual Points of the two machined surface is reached. With the help of the £ 5 forward / ■ backward counter, the signals required for certain programs and program steps are determined, which indicate the lateral offset of the device. This counter is ... therefore only intended for one coordinate direction, namely the x-direction.

According to a slightly different embodiment of the eriindungsgemäßen ii form a device the direction of movement of the device detecting the Winkeigeber is provided. is connected to a route computer to which the pulses generated for one direction of movement are also fed and with which the signals indicating the respective movement for the two coordinate directions can be determined from these pulses and the angle. "

Such an angle encoder is always required if the movement is only in one coordinate direction

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the device is detected with the aid of the pulse sequences. so that then, by means of the additional liohon voia Vlinkelgeoar indicated, with which the Vüj / richiu.iv moves, the path covered is calculated in a simple way, and oaaiL also at any time the; ^: specific location of the device must be specified! "ami.

. According to a further "■ usgeetaltu-g of erfi: Maessen performing are for each Koorc.inatertricht 3iis a main and one auxiliary sz'uYu he provided, which are connected to oer a pulse sequence for each co or dinatenrielrcung angebercf-u measuring device! wherein dxe main count or tied, the auxiliary counter with their Zäülausgängen on a respective their respective counter readings comparative comparator _s whose output is connected to the program control, and a memory controlling to SpeicheicplatzbestiBimung positioning means are connected 'and the counting inputs of the main and Hilfszählem can be connected to one another as a function of a signal from the program control, the main counter first indicating the position of the device and the auxiliary counter readings indicating the memory location called up in each case.

With the help of this for each coordinate direction · provided Main and auxiliary counters are, in a simple manner, independent tasks at the same time or one after the other depending on the program to be carried out by the device. For example, the auxiliary counter is always then specify on a certain coordinate point -

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the counter reading was recorded while the main ^ ialer with the movement of the device continues to be paid, whereby the counter readings of both the main and auxiliary meters Comparative comparator can be determined when the device is stored in the auxiliary counter Coordinate point has arrived again, because then the counter readings of both the main and the Auxiliary counter must match. In addition, the outputs of the counters are on the memory for determining storage space controlling positioning device switched, so that for each individual counter reading the counter a specific memory location is called up, which is then just a specific coordinate point of the corresponds to the area to be processed on which the device is currently located. With another through the The operating mode commanded by program control can also be carried out by the main counter when the device is at a standstill be stopped while the auxiliary counter continues to count via a special follow-up control so that it one after the other via the positioning device. Queries the memory locations of the memory until e.g. a Storage space is reached, which indicates an unprocessed coordinate point · of the area. Is this the one If so, the auxiliary counter remains on the counter reading indicating this memory space while the device is running in the direction of a coordinate point of the coordinate point to be processed that corresponds to this memory location Area is moved, with the movement of the device the main counter is counted again until over

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the comparator a match of the counter readings of the Main and auxiliary counter is determined. Depending on the program being executed by the device The counter inputs of the main and auxiliary counter are connected to one another in accordance with a signal from the program control or separately from one another, so that the counters either continue to be paid together or else one of the counters is stopped each time, while the other counter continues to count on its own «.

The chassis can have a frame with driving elements arranged thereon, at least one of which is coupled to the deflection device, and with a drive for at least one of the driving elements.

The driving elements can be swivel-mounted rollers on the frame. The chassis is supported by rollers on relatively small surface areas, there is a lot of space for the attack of the processing device. Furthermore, the rollers allow the chassis to be guided in any path, even in very tight bends. Depending on these roles with their Axes of rotation about an axis that is approximately perpendicular through their point of rest is mounted on a roller carrier so as to be pivotable be. This enables the direction of travel to be changed proportionally by any angle by rotating the rollers locally. Should, however, be avoided that the

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working soil and also the hells by turning On the spot too much "stressed", each role can be vertically at a horizontal distance of their upheaval axis. swivel bar be. Each role goes through "with each change of direction; a little bow.

In another Ausfülirungsforin on the frame for -Each direction of travel at least one teaching element un-. can be swiveled and alternated by the sliding device be lifted or lowered with the driving element (s) for the other or other running directions. Such a chassis is advantageous for a program sequence in which the movement of the machining device should run strictly in a few ', predetermined running directions, in particular in a longitudinal and one in addition vertical cross track. The Direction of travel by simply raising or lowering the driving elements can be changed. Moving in an undesired intermediate direction is not possible, can therefore also not caused by external influences.

Two pairs of rollers can be used as driving elements on the frame axes that are parallel to each other and at right angles to the axes of the other pair.

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BATH ORIGINAL

Can be raised or lowered alternately by the UttlerJteinrichtung stored ^ a. With pairs of whales like that two mutually perpendicular directions of movement can be chosen and strictly adhered to, have rollers Furthermore, the advantage that they rest on a relatively large area, so the weight of the device the area is divided. The Uralerokeinrichtung is relatively easy to control, since it does not have to cause a pivoting around certain arcs, but in a simple manner Way from an energy store, and one to Deflect optionally acted upon, against the energy storage v / acting lifting device can exist for each roller.

In another embodiment, the rollers additionally mounted individually or in pairs in the raised state by a swivel motor * Such a landing gear can travel in any direction. The pivoting of the raised Rolling has the advantage that "once the pivoting movement occurs while the other is moving Roller pair made v / earth that furthermore the rollers do not come into contact with when pivoting the surface must be rotated and also that each pair of rollers only in an angular range of about 45 rotated to both sides from its normal position must become. The other running directions

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takes the second pair of rollers by corresponding swiveling.

Crawler chains can also be provided as PahreleEJGiite be. These can be arranged on the frame in the manner of the rollers just described. The lifting and if necessary Pivoting can take place in the same way.

Furthermore, a system of caterpillar chains arranged radially around a common drive spindle can be provided be. The common drive spindle can be arranged perpendicular to the main extent of the caterpillar chains be, so they run in a star shape around the spindle. To change direction, only a certain caterpillar chain is in engagement with the spindle, to disengage the other caterpillars.

In a preferred embodiment, the deflection device consists of a device around the drive spindle concentrically rotatable carrier device for a system of arranged in the longitudinal direction of the spindle axis Caterpillars. By adjusting the carrier device concentrically to the spindle axis, the System of caterpillars perpendicular to its longitudinal axis, so moves the chassis sideways.

The limit sensor is permanently coupled to the deflection device, as a change in direction occurs with each limit contact.

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modification of the device is required. Furthermore, the limit sensor with the input element of the memory can be released coupled. The coupling is necessary for recording contours and. for causing changes in direction when saving the edited areas. However, the coupling must be detachable if that Input organ advantageous with the query organ for the memory on a common movement unit is arranged, a coupling with the limit sensor only disturbing. Depending on the intended use the device and / or in the structure of its individual parts, in particular the memory, the coupling of the limit sensor with the Unilenkeinrichtung and / or the input device mechanically and / or electrically and / or electronic. In general be advantageous that the respective couplings work on the same principle.

Each time the device hits a limit, it must be detected by a limit sensor. So at least must A limit sensor is assigned to each front area of the chassis in a possible direction of travel be. For a device designed for moving in everyone Any direction is determined, the limit sensor can be designed to surround the chassis all around.

For physically perceptible boundaries of an area, such as

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The limit sensor can act as a tactile device for protruding borders and walls, but also sloping edges be trained. In the case of towering obstacles. · The limit sensor touches them; sloping border edges become recognized by a floor button. Any limit sensor can do this - At least one switching element for the deflection device and / or have the input organ «pure one All around arranged limit sensors can be arranged on all sides of the chassis a number of switching elements. In this way it can advantageously be specified in the memory in a simple manner with which side the processing ' device hit a limit is. The switching element or the switching elements can with the Umlenkeinrichturig and / or elements acting on the input member be coupled to the controller. The application of the deflecting device or the input member takes over then the control «In a preferred embodiment, the limit sensor is a pendulum suspended, The chassis is formed on all sides surrounding shield and on the chassis are each in a possible direction of travel front area when touched by the limit sensor pressure contacts to influence the Control and / or the memory and / or the deflection device arranged. The pendular suspension makes it possible the shield in a simple way, every time it comes into contact with an obstacle without great resistance

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to assume a situation through which at least one pressure element switched wirö.

In another embodiment it is provided that the limit sensor consists of at least one closed pressure chamber with a contact membrane. One of those Limit sensor is vcrtoilhaft if the nature of the Border requires a "particularly gentle touch. The small., When the contact hits the sisembrane Obstacle successful change in pressure · in the pressure haura is sufficient for actuating a switching element.

For areas with inconsistent or not exactly known Boundary structures can be provided on the chassis as limit sensors, both horizontal sensors and floor buttons be.

The processing device can have at least one contactless Have boundary guides if it is used for areas that have no mechanically detectable boundaries such as walls, sloping edges or the like.

The limit sensor can also be designed as an optical device be that responds to color or brightness differences, through which the boundary is different from the one to be worked on Area differs. This is for example Advantageous for lawns that end on paths at the same height or in unplanted soil.

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Furthermore, the limit sensor can be used as a heat sensor or as Sensor for electrical or magnetic radiation egg or charges. He can then, if necessary, a limitation that emits such radiation recognize before it is reached. This is an advantage for devices with a relatively high processing speed, in which it is prevented in this way that they hit the border and cross it. A premature recognition of the A limit is also possible with an optical device under given circumstances.

The transmission device can act as a receiving organ at least one measuring roller rolling exactly in the direction of movement of the chassis on the surface exhibit. A measuring roller arranged in this way provides an exact image of what is covered by the device Path, as it follows its path exactly and the path covered by its number of revolutions measures. This path can thus be transmitted to the input organ and in this way with overrun, ie machined surfaces can be saved. A swiveling roller of the chassis can be designed as a measuring roller be.

In another embodiment, the transmission device have at least two measuring rollers,

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whose axes are non-adjustable to each other at right angles on a frame of the chassis. Included One measuring roller registers the movements or movement components in a longitudinal direction, the other the movements or movement components in the transverse direction, in each case in the direction in which they roll. The measurement results of these roles become common or transmitted separately to the input organ of the memory.

The measuring rollers can advantageously have radial lamellae on their outer surface, which moreover can be curved on their outer circumference »Each measuring roller receives a large rolling resistance in their circumferential direction, which is a secure registration each of these rolling movements is guaranteed. Conversely, the sliding resistance in the axial direction is the Role low. Such a movement should not be registered. Another registration option consists in the use of standard inertial navigation devices.

The transmission device can be a device for non-contact measurement of speeds as a recording element exhibit above ground. Such a device can work like an echo sounder;

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it can measure the time interval in which Unevenness of the surface two reference points in the facility happen and they can be a marking device which itself attaches the markings to the area driven over, which they are driven over by is admitted to a registering body of the establishment. This can be, for example Acting heating of small surface elements by laser beams. Such a facility delivers through the driving speed in connection with a die. Direction or changes of direction transmitting organ an exact image of the path covered, and is an advantage wherever it is flawless The condition of the surface does not guarantee that measuring rollers will run off * The transmission device control devices can be assigned for the verification. Compliance according to the program predefined directions can, by, a direction-stabilizing The rotor must be secured to the chassis. The measuring roller or rollers can each be assigned a diameter test roller. Furthermore, there is the possibility that the transmission device has one or more measuring rollers and one contactless Has speed measuring device, so that the two measuring devices control each other.

The receiving organ can mechanically with the input organ, electrically according to the well-known principle of

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control or be linked by data transmission. The mechanical or electrical coupling is advantageous if the input member is attached to a movable guide rungs organ is arranged and the spokes: · one of the Input element has a surface that can be traversed analogously to the chassis movement, since this traversing movement also Searching for unprocessed surfaces is done, i.e. independent of a movement of the chassis, is mechanical or electrical coupling releasable. There is also an electrical coupling if the measurement results be entered in the form of data storage in a corresponding memory.

A relatively simple structure results when the input member is a writing instrument and the storage area is designed as a writing surface. The nature of the writing surface and the type of lettering in the broadest sense, depending on the intended use can be varied widely, from simple paper with paint application to wax paper and an input organ in the form of a heated pen to a directly or indirectly luminous surface that covered by "writing".

A storage surface on which the unprocessed surface

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areas through their brightness or radiation can be recognized by light, enables such surfaces to be searched for optically * A preferred embodiment such a surface has a storage surface equipped with adjustable individual light sources on and an input member which is designed as an 'adjusting member for the light sources. This Adjustment can take place electrically or mechanically in the sense of a change in the light intensity “So Luminous bodies in the form of pins with an opaque head, a light, can be used as light sources An intermediate piece radiating approximately perpendicular to its axis and a lower part mirrored on the surface be arranged adjustable in bores of the storage area, the height adjustment substantially takes place mechanically by the input organ. The luminaires can have their own light source have, or they can be assigned a common light source. The illuminants can due to their training, which is divided into three zones, in three different positions in relation to the storage area each take on a different marking impression: in a middle position, which is the starting position is used, the translucent area radiates light directly above the storage area and can be used to recognize unprocessed surfaces; in a lower position the

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Iiclitundertransparige head the corresponding opening of the Spieherfläche, which appears dark and shows that this surface area "has been processed: in an upper position is above the storage surface of the opaque, reflective part of the luminous body, as a marker for a contour of the light behind it concealed, i.e. excludes it from searching _} while the light-emitting part of the respective luminous element is at a height above the storage surface at which it can no longer be perceived by a corresponding search device. The reflective surface has the advantage that unprocessed areas are also found if they are covered by luminous bodies that protrude in the direct light, for example marking an inner contour.

To move the pins down, the input member can use a slide to move the pins have a lifting device in the upper position marking a contour. The lifting device can work advantageously magnetically by the height movement of the height adjustable on a guide arm Input organ with the help of an electromagnet, and the driving of the pins by magnetic

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Prisoner takes place. For this purpose, the slide can have a magnetic coil that can be reversed, and the head of the pins can be provided with a magnetically attractable coating _{In order} to move the carriage further with as little resistance as possible, however, this adhesion can be canceled by reversing the polarity of the magnetic coil. Furthermore, the repulsive magnetic force reduces the weight of the input element on the pin and thus reduces the resistance when moving the input element over the storage area.

Another embodiment of the invention The device provides that the storage area consists of a number which are electrically conductively connected to a limited extent There is surface elements and the input device for saving the processed surface areas is designed as a charging or discharging device for electrical charges, and that it is used to store contours a device on v / ei st for interrupting the conductivity between individual surface elements. Saving is done in the same simple way by moving the guide arm with the Input device via the storage area analogous to the loading

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movement of the "device over the su processing Area. The search can then be for the one deleted by the ur> Field strength emanating from the area, with the outside of the outer contour or within closed Iimenkonturen lying surface elements by the complete interruption of the Conductivity can no longer be recognized. The same simple principle for saving and searching has a storage area whose surface elements take place are electrically magnetically limited conductive and their input device as a loading or unloading device, device is designed for magnetic charges.

JüLne further embodiment of the device according to the invention can have a digital memory and a recording device which supplies digital quantities. A device of this type is advantageous for areas of application where a smaller spatial and / or weight-related construction effort is desired, and also where the functioning of mechanical input devices in particular is endangered or maintenance is difficult. The same advantages apply to an embodiment in which the device has a digital memory, a recording device which supplies analog quantities, and an analog-digital converter ¹ for these quantities.

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The Αϊ) question organ to search for unprocessed areas on the storage unit can be advantageously arranged on the guide arm for all analog storage methods be. This has the advantage that no further component is required to move the interrogation member is. The guide arm is mounted on each pall in such a way that that it is used for systematic scanning of the entire storage area can perform the same or similar movements as they are when saving. Further the coupling of the guide arm with the control and / or the drive of the chassis may be possible can be used in the opposite direction to track the undercarriage on unprocessed surfaces. The movement the guide arm can 'mechanically or electrically with a programmable search control device be movable »According to the method according to the invention, the search control device serves to collectively with the tracking device as short as possible and / or for the chassis or the one to be driven over To determine a flat path suitable for the shape of the track. For a query body that has an unprocessed Area with the help of a sensor that responds to different intensities, depending on the type of storage of brightness gradients, color differences, field strength gradients, the search control device a memory for coordinate values can be allocated. The same applies if the query body

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is an electronic search beam scanning the storage area. The search control device can use the then control stored coordinate values in accordance with the program to determine the tracking path.

The following are embodiments of the invention Method based on devices according to the invention, which are shown in the drawing, and based on also shown in the drawings Process programs explained. There are:

IjJig. 1 shows a section through part of an as Polishing machine trained device;

FIG. 2 shows a simplified plan view of the device shown in FIG.

3 shows another embodiment of a detail in an enlarged sectional illustration;

FIG. 4 shows a view, roughly corresponding to FIG. 2, of another embodiment of a device; FIG.

FIG. 5 shows a schematic side view of a partial area according to FIG. 4;

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Fig. 6 a. Detail of another form in Side view;

7 shows a sectional view corresponding to the section line YII-YII in Fig. 6j

8 shows an enlarged detail;

9 is a perspective view of a storage area a device according to the invention:

Fig. 10 is a view of another embodiment a storage area;

11 is a view of a further embodiment a storage area;

Fig. 12 shows an enlarged detail of the embodiment according to Fig. 11;

13 shows a schematic representation of a search device in the memory area;

Figure 14 is a table of program symbols;

15 shows a diagram of a program flow for a complete processing:

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Fig; «. 16 is a diagram of a contour detection program;

Fig. 17 is a schematic representation of one of the Device covered segment during the contour detection program;

18 shows a detailed diagram of a processing program;

19 is a schematic representation of a Vegab-

cut during the machining program;

20 shows a schematic representation of a further path section during the machining program s;

21 shows the diagram of a storage area after the machining program has run :,

22 shows the program of a search sequence;

23 shows the diagram of a sequence of movements according to the Program Fig. 22;

24 - the program of another search sequence; Fig. 25 shows the scheme of a sequence of movements according to the

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Program in Fig. 24;

26 shows a schematic representation of a search process for a specialist delivery route;

27 is a block diagram of a predominantly electronic one Elements working device;

28 shows a detail of the Pig device. 27;

29 shows another embodiment of a detail of the device according to FIG. 27 *

Fig. 1 shows a device according to the invention in section a processing device designated as a whole by 1 ″ on a machining device designated as a whole by 2 Chassis, which is located on a surface 3 to be processed.

The processing device 1 is designed here as a polishing machine for polishing a surface 3 representing a floor. It has five polishing brushes 4 which can be driven to rotate by means of a motor 5. The engine 5 is provided with a centrally located ^; Polishing brush directly connected to the polishing brush arranged symmetrically around the middle one via a belt drive, of which only the polishing brushes are shown in FIGS

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Pulleys 6 are shown. The Treibriemenverb manure, which has been for reasons of clarity, omitted is designed so that the polishing brushes 4 are opposite in \ v ^r esentlichen.

The chassis 2 has a frame 7 on which the processing device 1 is also mounted. The frame 7 is supported on the surface 3 by means of four rollers 8 from each of which one in the middle, area each Frame side is mounted on a roller carrier 9. As a drive for the rollers 8 and thus for the Undercarriage 2, a drive motor 10 with a brake 11 is mounted on the frame 7. It drives through a gearbox 12 a drive chain 13 »which is approximately to the plane parallel to surface 3 four ring gears 14, each one for each roller 8, drives. "Each ring gear 14 sits on a vertical shaft 15? which carries a first bevel gear 16 at its lower end. One with the first 'bevel gear 16 meshing second bevel gear 17 sits on the axis of the roller

The roller carrier 9 is arranged essentially vertically on the frame 7. He wears on his lower cranked end an axle bearing 18 for the role. In its upper area it coaxially encompasses the vertical

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Ie shaft 15 and is rotatably mounted about this in a bearing 19 of the frame 7. The rotation he ~. follows by means of a chain wheel 20 arranged on top of the roller bearing 19. The chain wheels 20 of all roller carriers 9 are wrapped around by a common chain 21 _? which can be moved by a swivel rotor 22. The crank of the roller carrier 9 is designed so that the resting point of the roller 8 lies approximately on the ideal extension of the chamfer line of the bevel gears 16 and 17.

Another embodiment of a roller carrier 9 ¹ shows Pig. 3 in an enlarged view. The upper region of the roller carrier 9 'is designed as in FIG. 1 and is mounted in a bearing 19 on the frame 7. It can also be rotated via a chain wheel 20 'by a chain 21' and in its upper area is penetrated by a vertical shaft 15 'which carries a ring gear 14' at the upper end and a first bevel gear 16 'at the lower end. However, the vertical shaft 15 'is shorter than the vertical shaft 15 of FIG. 1 and ends above the

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Roller 8, the rest point of which is below the axis of the shaft 15 '. This is made possible by the fact that the second bevel gear 1?' firmly connected to a first gear, mounted in the upper area of the crank of the roller carrier 9 ', and a second gear 24-, which meshes with the first gear 23, is firmly connected to the roller 8 and is mounted at the lower end of the crank. With one through the. Swivel motor 22 causes rotation of roller carrier 9 ¹ »the roller 8 is rotated about its point of rest.

On the frame 7 is a 25 by means of pendulum suspensions Limit sensor 26 suspended. It is designed in the form of a shield that surrounds the chassis on all sides. On all sides of the frame 7, pressure contacts 27 are arranged in the area near the corner in such a way that that they can be acted upon by pivoting the limit sensor 26 accordingly. Furthermore are on each side of the frame 7 two floor buttons 28 are arranged, also in the corner area.

Two measuring rollers 29 are also provided on the frame 7, whose directions of rotation are at right angles to each other. Each measuring roller 29 sits at the free end a shaft 50, the other end of which is mounted pivotably about a horizontal axis 31. the Shafts are arranged essentially so that their

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Main direction of extent runs approximately parallel to one of the mutually perpendicular sides of the Eahmon 7. Each shaft 30 is coupled to a transmission device 32, which it transmits the rotational movement of its measuring roller "Every Meßrollo 29 has on its periphery radial fins 33 _t which are curved on the outer circumference.

Fig. 4 shows, on a different scale, a simplified different embodiment of a landing gear 2 '. As a driving element on the frame 7, it has four cylindrical rollers 34, the axes of which are arranged in pairs parallel and at right angles to the axes of the other roller pair. Each roller is assigned its own reversible drive motor 35. As in particular from the side view, ¹ J ¹ Ig. 5? As can be seen, each roller 34 is via a rocker 36 and. a joint 37 with a horizontal pivot axis 38 is mounted in the frame 7. Each roller is also assigned a tension spring 39 acting on the rocker arm 36, which pulls the rollers upwards in the rest position, and a lifting magnet 40 which, when responded, moves the roller downwards against the force of the tension spring 39. Together with a switching device (not shown), the solenoids form a deflection device that can be used to change the direction either one or the other

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the other pair of rollers is lowered.

6 and 7 show a further embodiment of a running gear 2 ¹ '. As Pig · 7 shows, the caterpillar chains 41 are arranged in a star shape around a central drive shaft 45. This moves a coarse spindle 44, the gears of which engage in the pitches of the caterpillar chains and drive them. Each roller 42 is mounted on a cage 42 '. All cages are interconnected. A bevel gear drive 45, which is connected to a drive motor 10 ', is arranged radially to the axis of the central drive shaft. The other end of the central drive shaft 43 is mounted in a bushing 46. With this one outer star-shaped group of rollers 42 is connected. The socket 46 can be rotated by a swivel motor 22 'via a bevel gear 47. In this way the device moves sideways.

Pig. 8 shows a schematic detailed illustration of another embodiment for a limit sensor 26 '. It consists essentially of at least one airtight pressure arm on each side of the device, formed from an airtight membrane 48, which is arranged predominantly on the outside of the frame 7 ¹ .

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net is. This pressure roughness is in pressure contact 27 'within the frame in such a way that a caused by contact with a boundary te change in pressure switches the pressure contact 27 '»

A memory 4-9 belonging to the device according to FIG. 1 for storing the "processed surface areas and surface contours" is shown schematically in FIG protrudes with one end over the storage area and carries at this end an input member 52 and a query organ 53 · The other end of the Führuiigsarmes 51 is mounted in a bearing block 5 ^ cross-slit-like in such a way that it is in its longitudinal direction via an adjusting spindle 55 directly via a it angeord- · _φ designated spindle nut 56 is movable and rbock Location directly related to the 5 ^ is movable in a 'perpendicular to its longitudinal direction by means of an adjusting spindle 57th of the lead screw 55 is associated with a drive 58, the lead screw 57. a drive 59- The two drives are mechanically or electrically detachable in a manner not shown with position transmitters 32 of the Measuring rollers 29 coupled in such a way that when there is a coupling, each measuring roller movement is transferred to the corresponding drive.

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wear and thus the input organ over the storage area analogous to the movement of the processing device is moved over the surface. When the coupling is released, the drives 58 and 59 can take the lead 5 '' program-controlled independently of the processing device Move over the storage area.

In the embodiment of the memory according to FIG the fields of the storage area 50 are each provided with an electrical charge. They are electric Connected to one another with limited conductivity, with a certain conductivity resistance between two fields is available. Furthermore, the charge of each field can be deleted or changed in sign The input organ 52 consists of one Erasing device for changing electrical charges on the storage fields. The interrogation body 53 is designed as a sensor that is sensitive to different electrical field strengths. He has three contacts 60 which can be placed on the storage area 50 at a distance from one another, a measuring device 61 for registering the potential differences, and a signal generator 62 for forwarding of the measurement results.

Fig. 10 shows another embodiment of a memory 4-9; its storage area 50 'has instead of

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Fields at a corresponding distance in a checkerboard manner arranged holes 63. In each bore 63 a pin 64 of light conducting material is vertical Slidable and lockable in three different height positions A, B, C. Each pin 64 points an opaque head .65 with a magnetic dressable covering 65a, a light approximately perpendicular radiating to its surface intermediate piece 66 below the head and a relatively long one Lower part 67, which is mirrored opaque on its outer surface. As a light source For the pins 64, a light tube 48 is arranged below the storage area so that its light L approximately axially. The one assigned to the memory 49 ' Guide arm 51 'forks into a lower one Guide arm part 51 'a, the free end of which is an eye 51' aa

and in an upper guide arm part 51 '"b, which initially extends approximately vertically upwards and then parallel to the guide arm part 51'a. By doing Eye 51'aa of the lower guide arm part 51 'is a Input device 52 'with an interrogation device 53' is vertically displaceable stored. It is supported on the eye 51 via projections 69 and springs 70. The input organ 52 'has an arched slide 52'a which contains a reversible magnetic coil 52'b. To the Height adjustment is the input member 52 'a lifting device 71 assigned, which consists of an electromag-

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next to 71 and one with the input organ 52 'and dom query organ 53 'coupled anchor part yih consists. That Abirage organ 53 'is an optically sensitive organ with a mirror system connected to the slide 52'a 72 and at a distance from the mirror system arranged photocells 73, wherein between the mirror system and a slit wall 74- is arranged for the photocells.

Another embodiment of a store 4-9 ^{tf is} shown in FIG. 11. Its storage surface 50 ″ consists of wax paper and is stretched over two winding rollers 75 A motorized position transmitter 77 is provided as the drive for the conveyor wheel 76, which is releasably coupled electrically or mechanically to one of the position transmitters 32 of a measuring roller 29. The position transmitter 32 is the other measuring roller coupled in the same way to a further motorized position transmitter 78. The motorized position transmitter 78 has a threaded spindle 79 which is arranged at right angles to the direction of movement of the Sx ^ calibration surface and engages the guide arm 51 ″ via a spindle nut 80. the on the guide arm 51 ^'f arranged Eingebeorgan 52''is shown in Fig. 12 ones shown, on a larger scale

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"It" has a pen 81 which, vertically to the storage area 50 ^{! 1} and in the rest position with a distance between this and its tip, is elastically held by a leaf spring 82 on the guide arm A vertically movable armature 84 of an electromagnet 85, which is attached to an upper fork 5 ^ "s of the guide arm, engages at its upper end. A reading device with a lens system 88 and a photocell 89 is arranged as an interrogation element 55 ″ on the guide arm 51 ″ in such a way that it can receive signals recorded on the storage area 50 ″ illuminated, relieved.

Another arrangement of a memory area with an interrogation organ 53 '''is shown in FIG. 1J _e The interrogation organ is similar to that in Big. 12 designed as an optical device with a photocell 90 and a lens s arrangement 91 and arranged in such a way that it allows the entire storage area to be surveyed. The storage area 50 '''is designed to be translucent and under it a light source 92 is provided opposite the interrogation member 53'". It consists of a picture tube, as it is in television sets or oscilloscopes

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is used, from one corresponding to the storage area Size, on the storage area will be 50 '" light blocking markings 100 applied.

The described "devices allow the automatic Processing of a surface according to an inventive method Method that corresponds to a given area or type of processing Program expires. The program sequence is guaranteed by a programmable controller 93 » which is indicated in Fig. 2 by its housing. Embodiments of such programs for the whole The processing sequence or certain process sections are shown in the corresponding figures in the usual way of representation for this. , Where means a rhombus a question or decision, a rectangle a command and a rectangle with double Sidelines a program. A list of the symbols used and their meaning is given in FIG. 14.

15 shows the sequence of the method according to the invention according to partial programs, the sequence of which is determined by the control system according to that from the memory and signals received from the height sensors automatically

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is initiated.

After the start, the device completes an Ium-- · turenfeststellprogr-aircfi It, by moving the surface area and its outer contour is entered into the memory. Embossing I: Is the surface boundary completely searched?

When the outer contour has been completely determined, the increase switches to the machining program Edit the surface in given paths. Both saved and still unsaved limits are touched / grounded. With every limit contact, the result is the Embossing II: High limit not saved as Eontiir touched? . '-

If so - ^ it is the limit of an obstacle within the area. The control switches back to the contour detection program and the The limit of the obstacle is traversed accordingly and saved. Bach plague sites a closed one Eontur is used again by the contour locking program switched to the editing program.

If not, the processing program runs unhindered or continue unhindered. During the editing

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The processing program registers the area areas that have been processed by the device in the memory, as well as the contours of any obstacles. If the device recognizes that it has arrived at: end of the surface. it reports this to the controller.
Question III: Processing program. expired?

If so, the control switches on the search program, that runs in memory. The memory is constantly looking for unprocessed areas within the stored outer contour queried.

Question IV: Unprocessed area found in memory?

If not, the entire processing process is completed, with the device switching off directly or moving back to a starting point before switching off can ο

If so, the control switches on a follow-up program Ή which is used to guide the device to the unprocessed area. Question V: Unprocessed area reached?

If so, the surface area is determined according to the processing

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processing program! ^ at the same time, exiting Hindomissc registered in accordance with the audit program, and after processing is completed, the search program is switched on. Will more ' Unprocessed areas are found, this process is repeated until there is no unprocessed area found more and completed the entire machining process in the manner already described will.

In the invention, the sequence program for the method can also be "varied". The contour detection program can at the end of the machining program run before the search program; also in This all stands for the search program a closed one Contour with 'processed surface areas stored in it' is also available the outer contour can be saved during the machining process by adding a triggers corresponding memory recording. This However, the procedure is only acceptable where not with unprocessed areas immediately must be calculated on the outer contour. Fer-. ner can go to the zu with every Könturenkontakt machining surface or in memory checks for running errors are made by differences between

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the actual barley location and that in the store registered location can be determined and corrected.

A diagram of a contour detection program is shown Fig. 16. It is based essentially on the device when they hit a border with Moving on a closed, following closer to induce described path »with each renewed Hitting a boundary interrupts the relevant path movement and initiates a new one. The path is designed in such a way that the limit once found is scanned by the device is found again and again. Fig. 17 shows the path the device takes along in this way a boundary, schematically based on the path that its center M describes. In .Fig. is a trajectory element E by a dashed line to the closed, programmed displacement trajectory added. It is made up of two U-bends with a span width b. The orbital movement begins when a border is touched with a route leading away from the border, which is the detachment path a pressure clock 27 corresponds. This route as well as the straight stretches of the U-bends moves in a device according to FIG. 1, the chassis with the reversible Drive motor 5 * while the swivel motor 22 is

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is switched. For the arched sections, the swivel rotor 22 is also switched on and swivels the Hollen 8 while the drive motor continues to run.

The drive motor is activated when the contour detection program is started switched on (HE). The performance runs straight ahead to the first grenade touch (K). The coordinates (x; y;) of this point can e.g. in a Counters (Z) are saved * The counters are expediently set to zero here. When touching the border the drive motor switches off (HA), changes direction (HV /), and switches on again (HE). He now moves the device away in the direction of impact until the pressure contact is released from the border. In the cone, there will be no new boundary contact on this stretch of the road. The in Fig. 16 in a The special case provided for program branching, in which this does happen, is discussed further below. To If the contact is released, the swivel motor 22 is switched on (SE) and swivels the lobes 8 around 180 °, unless a border contact occurs earlier. After swiveling through 180 °, the swiveling rotor switches off (SA), the device now has an arc of the Drive through span b. The drive motor 5 which is still in operation causes it to move in a straight line by a distance S ^ ,, which is parallel to the last Direction of impact runs on the border. Like Fig. 17 shows, leads this movement on a straight border

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to a new border touch. This becomes a new one Program sequence triggered for traversing a path, the drive motor switches off (HA), x uses (BW) and drives in the opposite direction (HE), etc.

If there is no boundary contact by the end of the straight stretch S ^, the swivel motor switches on again (SE) and rotates the rollers 5 in the same direction of rotation up to 180 °. This process occurs when the device drives around a boundary in the form of FIG. 17 at a corner on the outside. If a limit is touched during the second swivel movement, as is the case when the device hits the new limit line running at an angle to the first limit line, the swivel motor switches off (SA) and the path program starts again. A track element E ¹ , as it arises in this way, can be seen in FIG. 17 at the bottom right. In Fig. 17 at the top right a web element E ¹ 'is shown, which was created in the same way. The pivoting movement has progressed further there before a limit contact of the device took place. This resulted in another. Angle for the new route c leading away from the limit to the limit. This has the result that the device is already touching the limit again during the subsequent pivoting movement. This results in a path element of the form E '''

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Sensing a corner formed by the boundary their inside runs analogously.

If the device has a limit according to what has been described so far Program has finished, it will return to its starting position. She recognizes this from the fact that a Counter the stored start coordinates (x = y = o) indicates. The contour locking program is switched off and the machining program switched on,

There are still branches in the contour detection program
provided that relate to special cases. Approximately
in the middle of FIG. 16 is a partial program for
Preventing the device from getting stuck in the case of an unfavorable boundary course is shown. The preceding process provided for: A border contact K, switching off,
'' Change of direction and switch on the drive motor. If the limit contact does not disappear during a predetermined distance Sp, no new path movement can be initiated. The control switches the drive motor 10 off (HA) and the search program (S) on, by means of which the device is freed from its position, after a distance s'p has been covered or after a certain period of limit contact.

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■ DO "

The program section shown on the right in FIG. 16 applies in the event that the device covers a complete displacement path after contact. If it no longer receives any border contact, this means that it touches not a fixed border, but a movable body that is no longer on the same. Place. It can be a chewing animal, for example. However, it is also possible that a person present removes a chair or the like from the path of the device. In this case, the swivel motor is switched off (SA) after passing through the second curved section and the device still moves by a distance s · s _o . Then the control switches on the machining program B, which, as will be described later, causes the device to move straight ahead until it touches a contour again. In this way, the device is brought up to a contour again, whereupon the contour fixing program can begin again. If there is contact (Kpa) after the second bend, it is a very small obstacle. A new program sequence is initiated. The contour detection program described with reference to the distance covered is implemented by the device according to FIG. Start the roles as possible in the position shown in Fig. 2, i.e. parallel to a main extension direction of the chassis. It is recommended to use the launch site like this

3 09881 / 0Ί50

choose to have the device "on its first start." free path to an outer boundary of the surface * in the case of the floor polishing machine according to FIG. 1 to one below Wall has. The level sensor designed as a shield 26 hits the wall while the undercarriage is still moving. This is the trained as a shield Limit sensor swiveled so far that it detects the pressure contacts 2? switches. The pressure contacts 27 act on the control 93 » which in the described manner causes the movement in a path element. In what week the Rollers 8 are movable by the Schx ^ enkmotor, was already described in FIGS. 1 and 3, respectively.

In the embodiments of the device according to Fig. 4 and 5 or 6 and 7 * results in something different web shape in that the rollers bzitf. Caterpillars Do not make a curve, but cause the undercarriage to move sideways in a straight line. Instead of of the arcuate path shown in FIG. 17 results Then a path of lined up, completely or at least partially open on one side Rectangles. The programs in FIG. 16 and FIG. 18 are examples of the embodiment with swivel castors. The somewhat modified programs for the embodiments according to FIGS. 4 to 7 are not shown.

As a rule, the processing device, i.e. the

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Floor brushes 4-, during the contour locking program not put into action. However, there should be a special one for the area to be processed intensive processing of the area close to the border is desired, this can be done during the Stellprograimnes take place.

As the device moves along the boundary of the area, the path it has traveled is recorded in the memory. At the same time, the touched limit is saved as a contour. In a corresponding way, the processed area is registered as such during the processing program. Both storage processes are described together below. The movement is stored in that the measuring rollers 29 each transmit their movements in their circumferential direction via the associated position transmitter 32 to the guide arm 51. In the case of the memory according to FIG. 8, this is done by the position transmitters 52 transferring their respective positions mechanically or electrically to the drives 58 and 59 for the adjustment spindle 55 and 57 , which move in the same way the movement of the chassis over the surface. The guide arm 51 of the store according to FIG. 10 is moved in the same way in a manner analogous to the movement of the chassis. In the memory according to FIG. 11 and FIG. 12, the position transmitter 32 of the one measuring roller causes the motorized position transmitter 77 to use the conveyor

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wheel 76 üie storage area 50 '' in a measuring roller Direction of movement in the same direction of movement to move. The position transmitter of the ■ other measuring roller "moved over the motorized position transmitter 78 and the associated spindle the guide arm 51 ″ in the direction of its measuring roller, i.e. perpendicular to the movement of the storage area c, The movements of the storage area and des from the guide arm "added pen 81 moved This results in a movement which · corresponds exactly to the path covered by the chassis.

In the memory after 5 ¹ Ig. 9, during the movement of the input member 52, the movement of the device is recorded in the following way: Each field of the storage area with the side length a χ a shows an electrical charge. All surface elements are in conductive contact with one another for this charge. The conductivity from one element to the next, however, has only a limited value, so that each element has a certain conductivity resistance. The input member 52 is designed as an extinguishing device which changes the charge of each element when it is passed over, for example extinguishes, weakens or reverses the sign. The overlined elements distinguish

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which are thus different from the non-overstretched ones by their charge. In addition, the input member 52 is assigned a device (not shown), which interrupts the conductive connection between the element over which it is located and the other elements, for example by punching, with each limit contact of the limit sensor 26. In this way, the storage area 50 the contour as a non-conductive separation line between elements with a changed charge and elements lying outside the contour with unchanged charge _.:

The memory of FIG. 9 can, in the same way, a Have storage area with magnetic! Fields, with the input organ corresponding to the magnetic field changes and the magnetic one to store contours Conductivity interrupts.

A distance covered or a limit to be stored as a contour is assigned to the memory according to FIG. entered by adjusting the pins 64-. Their starting position is position B, in which the intermediate piece 66 with translucent surface over the top of the opaque Storage area 50 'is located. When the guide arm 51 'moved relative to the storage area 50', see above

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presses the input member designed as a slide 52'a 52'a every run-over light pen in the bore 63, i.e. in the position A. The opaque head 65 does not let light from the bore onto the surface of the storage area 50 'arrive. The area driven over will be on registered in the memory by a dark spot. To save the contour will be "with each Limit contact of the limit sensor 26 at the same time the electromagnet 71 ει and the magnet coil 52b acted upon in this way> that the input organ. 52 ' with the interrogation member 53 'is moved upwards and the magnetized carriage 52'a den.betreffenden Pen by interacting with its magnetizable !. Cover 65a pulls up. After it clicks into place of the pin 64 in position c, the flow of force between it and the carriage 52'a is changed by reversing the polarity the solenoid 52'b interrupted, so that the guide arm 51 'is unhindered analogous to the device movement can move on. Immediately thereafter, both the magnetic coil 52'b and the Electromagnet 71a turned off. The input organ 52 'with the interrogation device 53' moves by its own weight - again into the formal position shown in Fig. The downward movement will braked by the springs 70 so that no hard Surcharge takes place.

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The memory according to FIGS. 11 and 12 stores the distance covered in the form of a line which is formed by adding the movement of the memory surface 50 ″ and the pen 81 buried ^fl. The electromagnet 84, 85 pressing the pen against the storage area can be switched on during the entire duration of movement, that is to say draw a closed line of lines, or record lines or dots by periodically raising and lowering it. The electromagnet 86 with a horizontal armature .8? causes a rapid sideways movement of the pen in both directions when the border touches, so that the contour appears as a zigzag line or, depending on the feed rate, as a broad line on the storage area. This embodiment of a memory is representative of all embodiments with a writable memory area and an input member designed as a writing instrument. The storage area can consist of paper, plastic, glass or metal. Black or colored liquids, fluorescent dyes, pencils or colored pencils can be used for writing. In the broad sense of labeling ^ the storage area can be made of a foil of any material

309881/0150

les "exist, which will be held by, the application of a label mechanically deformed or perforated. Similarly, the magnetic recording medium can be applied in the manner of the known tapes. One possibility is a direct vjel Speieherfläche, from so-called liquid crystals, -beispielsweise p-anisylidene-p -n - butylaniline. Such a storage area is "labeled" by inputting electrical signals, which causes the mentioned liquid crystals to change their optical properties.

After completing the contour detection program, switch the control sets the machining program. Its flow chart is shown in FIG. Simultaneously the storage process is changed so that instead of Surfaces machined outlines can be saved.

The basic sequence of the machining program provides that the device by means of the chassis moves in mutually parallel paths from a boundary to the opposite and back, moving a distance / ^ x offset. The lateral displacement takes place in a certain direction. In Fig. 19, the path the Center M of the device covers it, recorded <> A coordinate system x, y is indicated there, where y is the main direction of movement « i.e. the direction of the straight paths between border and border, while x is the direction of the lateral

309881/0150

Represents displacement, i.e. the transverse direction "While the main direction of travel changes from track to track between + j and -y, the transverse direction <x is impressed on the device 18 and 18a describe the machining program in detail, first the basic sequence of movements as shown in FIG .

When starting, the drive motor is switched on (HE). The device moves in the j-direction up to the first limit contact (K); as soon as this takes place (yes) the interrogator checks whether it is a contour that has already been saved acts (AK). If so, the control checks whether there has already been a transverse offset since the previous path at + Ax is done? if this is answered in the negative, whether a Offset by - & x has taken place. If this is not the case, the drive motor switches off (KA), the drive motor changes direction (HW) and switches on again (HE). To

a specified short distance, during which no contour was touched (H, no), the swivel motor switches a (SE) until a boundary is touched (K, ja). The one described from the last border contact so far The sequence corresponds to an approximately arcuate displacement step E 1, as can be seen from FIG. If the limit touched after the swivel movement is an already saved contour (AK, yes),

309881/0150

The control checks whether the offset width has now reached the distance Zi χ. Isn't that the case _? as after the first and second offset step (- * £ x, no) and if there is no offset against the transverse direction by -yßx (- ^ x, no), the drive motor switches off (HA), the swivel motor "off (SA) and the drive motor changes its "direction (Hl- /). Now begins a new displacement step, which is indicated in Fig. "18" by the line, which is on the lower band of the sheet. From right to left and increasing again before switching on the drive motor approximately in the middle of the sheet in the program part that has already been run through This process is repeated as often as offset steps are necessary to achieve a track width offset by + 4x. According to Fig. 19, these are three steps, so the repetition must be done twice Stored contour (AK, yes), that the control recognizes that the offset has now reached + / Ix, that is, the case yes occurs (lower right-hand area of FIG. 18). The further program sequence can initially be found in FIG. 18a. The drive motor is switched off (HA), the swivel motor is switched off (SA), the drive motor changes direction (HW) and is switched on (HE); the device is now running in the -y direction initially a predetermined short distance. If there is no contour contact by then, the control system checks whether the device is in the main direction (H). If yes: the direction of the swivel motor, which is switched off, is changed (SW) and the program starts from the beginning *

309881/0150

-TT-

which is expressed in the figure scheme 18 and 18a by the line that in "both figures on the far left leads up and there between (HE and K) v / ieder in the Program ends. This means that the device now moves in the -y direction up to the limit originally touched opposite border where the game repeats itself. The reversal of direction of the Sch: / enkmotors was necessary because the swivel motor is also driven in the + x direction at the opposite limit however, it must work in the opposite direction as before will be discussed, which in Fig. 18a relates to what happens when the device after the brief reset is not in the main direction (H, no). The swivel motor is switched on (SE) and, if there is no contour contact if (K, no) the swivel movement is continued until the device is in the main direction (H, yes) The swivel motor is switched off (SA) and the process continues as described above, namely the direction of the swivel motor is changed (SE) and the program starts over.

While driving in the main direction, the interrogator on the memory constantly checks whether one is already there area registered as processed is reached (F). If so, the same sequence of movements begins as if a limit already stored as a contour had been reached? i.e. there are displacement steps driven, the end of which is not through a border, but through a processed area section the memory can be limited until either a transverse offset by / ix has taken place and thus a new Bs-

309881/0150

Work path started in the opposite direction or the worked area ends, which desx> corrects «driving around a border corner, which is still to be described.

In the upper area of Fig. 18 the case is drawn in "if a limit reached from the main direction of _{travel (K 4} Yes) is a non-saved contour (AK, no). The drive motor switches off (HA.), The swivel motor switches on (SA), the drive motor is changed in direction (HW) and switched on (HE). The device then travels (KA.), It no contour (IC, NO), the main motor is switched off in this way a kind of reverse arch-true - the swing motor off (HW) and _φ from the editor into the con- 'connected structures determined subprogram. The contour of the obstacle is saved in the manner already described and then the machining program is continued. If the device drives onto a contour again at this arc, however, there may be a difference between the memory display and the location control, which, as described later is corrected, or a difficult borderline situation from which the device is led back to an unprocessed area by switching off the drive motor and switching on the search program after having covered a certain, predetermined distance (S} S1). The same situation occurs if, when it encounters a stored contour, after moving back for the first time by a predetermined small distance, the device also encounters a contour again, i.e. between two very close ones

309881/0150

SO

Limitation "is located. Here, too, the search prof-; mnni switched on.

Another deviation from the normal program tx-itt darai on, if the device is during a test step moved around a border corner at which the border in the last main direction driven backwards ..! This case is provided in the middle in FIG. Hach eng Switching on the swivel motor (SE), i.e. when driving a decomposition arc, If the device does not hit a contour (K, no) or an area drawn as processed (F, no). As soon as the device is after a Rotation by more than 180 ° again 'is located in the main direction (K 180). the swivel motor is switched off (SA) and the device continues in the main direction of travel »

Similar situations when driving around protruding Boundary portions as shown in Fig. 20 are in the program branches provided on FIG. They essentially correspond in their sequence to those already described Program sections.

An inner and an outer corner are also traversed in offset steps E ^, which each start again after a limit contact, with the distance covered in the transverse direction being added up by the controller until this sum corresponds to a distance Λ ^. When driving around a wall projection, as it is shown in FIG. 20, the stretch χ is made up of a limit which was originally reached

309881/0150

The partial distance covered in the transverse direction and a partial distance covered at the inwardly offset limit together «After the distance -Λ ύ has been reached , the device will begin to move in the -y direction.

When the device reaches the limit which closes the surface 3 approximately in the + x direction, ie extends approximately in the y direction, it will feel its way along this in the + x or -x direction, depending on its point of impact. The moment inevitably comes when she has no other option than to move on in the -x direction. The "control is designed so that it allows a certain distance in this calibration Tung to allow the bypassing complicated boundaries""However, once the distance in the -x calibration Tung route said predetermined amount -Ay: exceeds, this is a criterion for Reaching the end of the surface. The machining program is switched off.

The execution of the machining program is controlled by the limit sensor 26, the control via the pressure contacts 27 93 acted upon at a border crossing. The controller controls the amount covered in the x-direction Path by means of the measuring roller 29 responding in this direction or its position transmitter 32.

Like a storage area 50 of the memory according to FIG. 9 after this

309881/0150

■ The program flow looks like, is shown in Fig. 21. IC, represents the The contour of the saved in the contour setting program The area of the "K" is that during the course of work stored contour of an obstacle 95 * "The Area of the storage area 50 outside the outer contour K ^ is denoted by 96. Input organ 52 was analogous to the device via the storage area 50 e. started on surface 3 at starting point F. in sighting -y. It performed a movement analogous to the movement of the device until it. at the end of the machining program s was stopped in the Sp position »The during this program run on the Storage area 50 within the contour K, as processed Stored surface areas 97 are identified in FIG. 21 with a flare. In which Memory according to FIG. 9, the surface elements of the areas 97 have changed their charge. The surface section-98 is still unprocessed.

Bas concurrent during the machining program Interrogator acts at the same time as a control and correction device for the fact that the position of the device on the surface and this input organ match the memory. A leading of the input organ or a lagging of the device recognizes the query organ that it reaches a stored contour, while the device has not yet

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* a ~

G-limit contact reports. The Uncouple the control unit and, if necessary, the counter, continue driving the device let "until the border contact takes place, and then couple it in again.

The reverse case, in which the input organ limps or the device is running ahead is more difficult to see. In this case, it arises initially the same situation as when it hit the device during the machining program on an obstacle that has not yet been saved on the processed area is created. This situation has already been described above: The control should switch off the machining program and switch on the contour locking program. This would, if really If there is a running error, at least part of the already stored outer contour will be repeated would be stored and at a distance from the original one corresponding to the running error saved contour is offset into the area to be machined * This offset is usually not be big, because yes- on the opposite one touched before At the limit of the surface, a correction must have taken place in the same direction of displacement and during the one-time travel in the main direction

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only in exceptional cases a greater difference in location may have arisen. However, there is a risk that the device will once again take the entire outer contour saves. This can be avoided in a simple manner in that each time the device hits on a limit reported by the interrogation body as not being saved, the input body is decoupled and is moved a certain distance in the same direction of movement. This route should at least approximately correspond to the largest device expansion * If the interrogation device encounters a contour within this distance, it has been proven that it cannot be an obstacle; because with the contour setting program the device would have been cannot move between an obstacle and the outer contour at this distance. In this case the input member must be coupled to the device again when it hits the contour, see above that their two locations ·: at a border or at their stored contour, agree again.

If the interrogation body is within the specified distance does not meet a saved contour, "a running error is usually not to be expected," there is a mutual difference in location in the same direction at the previously touched - opposite one Border must have been corrected in any case

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must and only in special cases such a large running error may have arisen during a single journey «. After covering the specified distance without contact with the contour, the input element must therefore move back the same distance and be coupled in again whereupon the contour detection program is switched on and the! obstacle with its contour is saved.

However, such a major running error should have occurred be that the outer contour is mistakenly mistaken for an obstacle, it must be the error at the latest then point out when a side limit is reached at which the device would have to move in the opposite direction. In addition, if there was not a running error of the same size in this direction, which was not expected must be, the interrogation body the impact on report an already saved contour. The control then only has to be made to do so by the contour detection program to switch back to the machining program. One that has remained unprocessed in this way The surface area is then determined in the search program and post-processed.

If there is a difference in location in the transverse direction, a wall protrusion as such - in contrast to an obstacle - can be recognized by measuring the path of the uncoupled interrogator up to the stored contour, the Query organ moved back to the decoupling point, offset one step to the side and approximately parallel to the previous one Path is moved back towards the contour, this path is also measured, the interrogator moved back and this Play a predetermined number of lateral steps is repeated, whereupon the measured values are compared and a correction is made.

If the last process described is a big one

309881/0150

Running errors should be avoided, can be used for control a legal comparison between that of the processing device reached limit and the stored stored by the continued interrogation organ in the distance Contour can be carried out * This control option is based on the "assumption that in the Usually an obstacle on the surface to be processed has a different boundary course than the one in the distance of which running outer contour »If the shape is identical, it can be concluded that a major running error present * This check runs as follows: On the signal that the covered. Distance of the Abirageorgan from the point of impact of the processing device to the registered external con. door is larger than the device dimensions plus a safety surcharge,., at the moment in which the query organ stores the stored Outer contour reached, the contour fixing program switched on. The device then feels its way along the obstacle found in accordance with this program, while the interrogation organ is in .Parallelver displacement moved along the saved contour. If the alleged obstacle is the Outer border acts, each time the Device on the limit within a certain error limit also the query organ on the stored Meet the contour in the memory. Once this is any

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S9-

selectable number of times the pail has been can as proven to be considered to be the case of the touched Border not around an obstacle, but around the outer border acts. The described error correction is made * so that the locations of the device and the query organ are back in cover.

Will gedech within the specified number of contour contacts the previously described equality of form is not established, it is proven that it is there is an obstacle within the area to be worked. Its outline is then in the course of the Konturenfeststellprogrämraes saved, whereupon the machining program will be saved after reaching the first point of contact switches on again with this obstacle.

In addition, the processing program sees for situations in which the device is at unfavorable Grenzbzw. Surface forms get stuck, the same special program sections as they have already been described in the contour detection program. During the process of the machining program is the machining device, i.e. the floor brushes, constantly driven. When switching from the machining program to the contour locking program When driving over an obstacle, the motor 5 for the processing device 1 is shut down.

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switches.

After finishing the machining program, the Control the search program.

The search for unprocessed surface areas takes place in the memory by means of the interrogation organ, either by detecting intensity differences or field line gradients or by systematically driving over and interrogating the storage area by the interrogation organ. Which principle is used depends on the structure of the memory or the method of memory before I ¹ UiIg.

When looking for intensity differences or. Field line gradients recognizes the interrogation body

", Storage areas that show non-processed areas, at their to the other storage areas with different charisma. At the same time, the interrogation organ recognizes the intensity the charisma and the direction from which it comes. It is moving towards the strongest Field line gradients and carries the device with it on the surface. When reaching the unedited The search program is switched off and the processing program switched on for the area segment. After editing of the surface area is determined by the

87 / 309881/0150

Program switched back to the search program so that Another unprocessed area can be searched for «If the query organ does not provide any intensity differences or field line gradients more fixed, so the control first causes an increase in the sensitivity of the interrogator to intensity differences. In this way, the interrogation body possibly even on large areas distant, small or saved contours of obstacles Detect shielded, unprocessed areas. Only if with increased sensitivity the interrogator no longer detects any intensity differences or field line gradients, ends the control finally the overall program, i.e. it switches the device immediately or after feedback on a starting place.

According to the potential method, unprocessed surface areas are created on the memories according to FIGS. 9 and 10 sought. As an example of a storage area with partly processed, partly unprocessed 21 is used for the stored area areas. In the case of the storage area 50 of the memory according to FIG. 9 shows the storage surface elements of the surface areas 97 registered as processed weaker electrical charge than the surface element

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»Β-30

inents of the unprocessed surface area 98. The query element 53 is with its three contacts so deposited on the storage area that the contacts rest on different surface elements. The weak conductivity of the storage area elements between the three measuring points touched by the contacts there is a potential difference that is from the measuring device 61 is registered. This represents the direction in a known way by comparison of the field line gradient and thus the direction to the even stronger electric charge supporting surface elements of the unworked surface 98. The surface elements 95 are through the stored contour K ~ of the obstacle no longer conductive with the surface elements within the contour K ^ connected so that the interrogator no longer responds to their charges. The same applies to the surface elements of the outside of the outer contour K ^ remaining surface areas 96.

In the case of a memory which is adequate to FIG. 9 and has a memory area composed of surface elements with magnetic Charge and appropriately trained input and query organ runs the search process

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89 -

according to magnetic fields of different field strengths *

In the memory according to FIG. 10, "at the end of the machining program, the machined and the unmachined surface areas differ in their brightness. On the machined surface areas 97, the opaque heads 65 of the pins 64 cover the bores; there, light is emitted Unprocessed surface areas, the pins 64- emit light L ¹ from their intermediate piece 66 in all directions radially to the pin and approximately parallel to the surface of the storage area 50 ' L ¹ and can feed it through the slit wall 7 ² J to the photocells 73. The mirror system is approximately conical, so that it can receive light from all sides and the photocell recognizes which side the light is coming from Photo cell has an evaluation circuit, d'ie in the case of several, lying in different directions Lichtque llen gives preference to the strongest light source, ie the closest and / or largest unprocessed area which is on the

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strongest lights, first edited \ tfircL

If there are contours of an obstacle between an unprocessed surface area and the interrogation organ, ie pins in position C, the light from the unprocessed surface areas cannot reach the interrogation organ directly. It gets there via the reflective lower parts 67 of the pins 64 in position C, which designate the outer contour and / or inner contours. The mirroring of the lower parts of the pen is designed so that it has a reflection coefficient which is noticeably less than 1. If the interrogator moves towards an alleged light source, which only consists of a mirror, it first recognizes this on arrival through physical contact with the pen in position C; In addition, the mirror system receives a stronger light beam at this point at the latest, namely the one incident on the reflection. This can come directly from a pin in position B, or from another mirror. The query organ now moves in sighting of the newly recognized direct or indirect light source .zu and carries the device accordingly until the actual

9V 309881/0150

an unprocessed area is actually reached.

By systematically scanning a storage area, the memories according to FIGS. 11 and 13 are unprocessed Looking for areas. In the memory of FIG. 11, the query member 53 "is on the guide arm for the Input device arranged. According to a search program by means of the guide arm, it can be systematically accessed via the Sphereher surface are moved. It registers the Marks applied by the pen 81 on the storage area, so it determines whether it is on a processed or an unprocessed area. When reaching an unedited Area, the control sets a tracking program in motion, which the device on the area leads to the unprocessed area. This principle applies to all types of storage in which the storage area is "labeled" in some way, as stated above.

Figs. 22 and 2 ² J- show two types of

Search programs, which the movement of the query organ set above the storage area. The associated paths are shown schematically in FIG. 23 to the search program, FIGS. 22 and are recorded in FIG. 25 to the search program FIG. The movement that the interrogator on the guide arm performs over the storage area, is essentially similar to the movements that the guide arm

3098 81/0150

performs analogously to the device during the machining program. The following description "begins with äev: point marked with * in Fig. 22. In the search program according to Pig. 22 and Fig. 23, the interrogator initially moves in y-direction up to a contour, there it moves one step 'in direction -J a step + χ and a step in direction + y. It describes a path with a rectangular path element. When it hits the contour after the step in Bichtuiig + y, the interrogator moves in direction ~ y in a straight line until it hits an opposite contour and back on the same path. This is followed by another offset by a path element in the x-direction, a straight-line movement to the opposite contour and back, an offset in the x-direction, and so on Interrogator during a movement in the x-direction on a contour, if it is in a corner, it reverses its sense of movement in such a way that the lateral displacement takes place in the form of a path element in the y-direction and the back and forth running takes place on a straight path to the opposite contour in x direction. In this way, the interrogation element travels the entire outer contour and sweeps over the entire storage area from the outer contour that can be viewed from this contour

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all storage area areas are therefore also searched that are not from one side of the outer contour because there is an obstacle in the way. This program turns itself off when the starting point returns is reached, unless previously unprocessed! laugh were found.

The sequence of movements of the search program is partly below described, - from the 'position marked' with '' 24 - '' the interrogation member between two opposing contours similar to the device in the machining program. The query organ runs in a straight line, for example in the y-direction, towards a contour and is displaced accordingly when it comes into contact with the contour a path element already described in the contour detection program approximately U-shaped in x-direction. When it hits again. the contour the interrogator runs in a straight line in the direction -y towards the opposite limit, offset moves around a path element in the + x direction, runs in the + y direction to the opposite contour, etc. Except for the fact that the lateral offset is a single track element in each case, differentiates This sequence of movements differs from the sequence of movements in the machining program in that the Impinging on an approximately in the y-direction

34) 9881/0150

Contour the query organ now changes its sense of movement, i.e. the lateral displacement around a path element takes place in y-direction, and the straight line Moving from contour to contour in the x direction. In the search program for Pig. 24 and 25 is provided, to change the size of the individual steps in the x and y directions after a specified runtime ■ and the search program again with these changed Parameters to run. This program switches after a specified period of time, unless previously unworked areas have been found.

In addition to the search programs described, the Within the scope of the invention, those used x ^ earth, in which the query organ first of all to it., Itself surrounding area is scanned, then touches the area surrounding the area just scanned etc., thus moving in the form of a spiral. Spiral scanning can also be used start of the outer contour and result in a movement up to the middle of the storage area. Further Such a search program can be expanded so that the query organ when it hits a contour that has not yet been scanned is initially attached to this according to the type of contour detection program feel along until it returns to the first point of impact.

95 / 309881/0150

Each of the described search programs can be arranged on a guide arm query member. a storage area are guided, with the drives or position transmitter for the guide arm separated from the position transmitters of the measuring rollers v / earth.

The memory according to FIG. 13 is scanned according to the same search program, but it is not the interrogation element 53 '' but an electron beam .99 that moves there according to the search program. It is generated by the picture tube 92, deflected in a known manner and scans the storage area 50 ^l '' according to the search program from. as long as it meets the storage surface no "have written down" mark, it provides a bright spot of light is received by the photo cell 90. If it hits a mark 100, the photocell 90 receives a lower Light quantity and emits a corresponding signal, whereby different brightnesses and different signals are used for processed areas and contours.A decoder connected to the photocell evaluates the signals to determine unprocessed areas.

When searching for unprocessed areas in the storage

96 / 309881/0150

by systematic scanning, the processing device on the surface is not analogous to the movement of the interrogation body not moved. As soon as an unedited Has been found, the control switches to a follow-up program a.

In the simplest case, this can consist in the fact that the coordinates of the device location and one-s found point of the unworked surface a direct straight path is determined, which the device leads to the unworked area. If there are obstacles on this path, the device feels its way according to the type of contour fixing program Part of the obstacle around until it can continue its direct path.

26 shows the diagram of a storage area 50 on which an outer contour K ¹ ^ and a processed area 97 'have been stored. There is also an unprocessed surface area 98 'within the contour K ^{1 ^.} In order to avoid misunderstandings, it is pointed out that, for the sake of clarity, the processed surface area 97 'has been left free in FIG. 26 and the unprocessed surface area 98' has been hatched as in FIG. 21. 26 illustrates how a tracking program can be used to enter a search beam on the storage area 50

97 / 309881/0150

rational way from the position G of the query body, that of your standpoint of the device on the! surface is analogous is, KU the point F is found, which is a point of the unprocessed surface area 98 'represents «A search beam has the Point 3? determined, has returned to the starting point G. and has stored oil coordinates of point F there. According to the ifachfühi'progi'amm "goes the search beam from point G first in the direction of point F to check that the device is this way can travel directly without crossing a contour line. In the example of FIG. 26, this is not possible. The search beam meets a contour line at point 1. The coordinates of the point are saved. The search beam now "scans its way from point 1 along the contour in a way that as it corresponds to the contour locking program. In the case of the example according to FIG. 25, the offset steps are directed to the left. Hach one The search beam reaches the specified number of path elements at the contour K ^, point 2 and saves its coordinates. From point 2 the search beam tries to get to point F in a straight line. It immediately hits the contour, is stopped and the follow-up program is started with a further number of displacement steps continued. This leads to point 3 being reached.

98/309881/0150

jtoö

Its coordinates are stored, the search beam tries ^{to reach the function ϊ 1 in a} straight line and hits a contour again. In this way, the process is repeated from point to point until the search beam reaches point 13. From this point of view it is possible for the first time _s to reach point 'F in a direct way. * The coordinates of point 13 are also stored »The search beam returns from point 13 z'-xm. Starting point G back un'd now checks which point is the highest digit that it can reach on a straight, direct line without crossing a contour line from timpani G. He can start with the smallest digit, that is 1, and move to one point after the other until this is no longer possible without crossing a contour line, in Fig. 26 that is "at point 11. This means that point 10 is the highest point which can be reached directly in a straight line from G. The search beam can, however, also control the points from point 12 in descending order of digits and determine point 10 as the first point that can be reached in a straight line , each of the items 1, 2.-3, etc. take place.

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309881/0150

The coordinates of points 1 to 9 are deleted. The Siichstrahl checks whether it is from point 10 Can reach point 13 in a straight line without crossing a contour. If this is the case, will the coordinates of points Ii and 12 are deleted. The way from G- to F is -thereby through the connection of the saved points G-10-1J-F. The device is then also via points G-1O - 13-F tracked on the surface to be processed When F is reached, the machining program is switched on. That way, each one becomes unedited Area within the outer contour K '~ with

C.

Security found if F can be reached in a straight line from any point on the outer contour K ¹ ,,, which is almost always the case. This method for determining the tracking path contains two elements: Feeling along the outer contour, sending out a search beam. It is therefore analogous to the search program according to FIG. 24.

If, on the other hand, the surface to be machined contains significant partial surfaces that are not of the outer contour can be reached in a straight line is a method for determining the tracking path analogous to the search program 22 more favorable, in which the search beam jumps from one contour to the other.

Both types of follow-up programs result in

309881/0150

"As is known, Magivimndar positions analogous to Fig. and 2 <-j ·. For the sake of simplicity, reference is made to the detailed illustration waived here.

Another guideline for one according to the invention Device equipped with at least one electrical signal storage tube is based on their Block diagram in Fig. 27 shown. Such Tube is in the reference "Siemens components information" 1971, issue 2, page 4 ^ "described .. The structure of the. the chassis and the processing device corresponds essentially to the embodiment according to Pig. 1.

When there is a limit contact, the chassis sends signals to the control 93 and a memory device 4-9 '''via the limit sensor 26 through the pressure contacts 27 and the floor button 28. As a measuring device for the distance covered, the measuring rollers 29 give their signals in the form of pulse sequences per coordinate step χ and y for registration in the memory device 4-9 ' ^lf to the input member 52 _} and they give signals about lateral displacements + £ y. and and via the distance covered s * and Sp to the controller.

Contacts on the swivel motor 22 signal via the Angle Eontaktgeber 200, whether the Hollen 8 is in

1Ό1 /

309881/0150

Eauptx'iclibung II are located, or whether swivels by 1οΟ ^υ or more have taken place.

The drive motor 10 and the welding motor 22 receive their commands from the controller and from the memory device 4-9 ^! ' ^! ο The respective signals are created, called up or deleted depending on the progress of the program «

The controller 93 holds its signals in the manner described from the chassis 2 and from the storage device 4-9 ' ^{! L} and, as predefined, outputs the contour setting contained in it and the processing program and the sequence program according to Ii ¹ Xg. 7? cLie corresponding commands to the memory device 4-9 ^{! l1} and the chassis 2.

The memory has the signal storage tube as the storage device 4-9 '' ' on, as well as the input member 52 '' 'and the interrogation element 53 '". Its deflection device for öeii The electron beam of the tube is controlled by a positioning device 100 for the x and y directions »

The entire control device is divided into three Parts, namely a circuit assigned to the chassis, a program control and a memory circuit.

The chassis circuit includes the following assemblies: A limit sensor 26 which always emits a signal when the device encounters an obstacle;

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309881/0150

a "separate leg direction 29", shown in more detail in Pig "28 and 29", which indicates the respective change in location of the device, ^r j by a proportional number of pulses for x and y direction; a circuit for the drive motor, which can start dioseji forward or backward depending on the signal output and aniialten, and an electrical circuit 22 for the swivel motor., which actuates this according to the signal output go that the device in "be, love." Sightings can be swiveled _{5 as well as a Winke1-Konv, rollgeber 20O 5} coupled with the swivel castors bsw «. Dom Schwenkmctor, which indicates whether the swivel castor!) ° swiveled direction.

There are two possible designs for the path measuring device:

-some one in which a single Wegemeßorgan, such as a measuring roller 29, is available, which pivots about a vertical axis in the direction of travel. Using the path calculator, it determines changes in position in x ~ imi. "J-direction. Pig. 29 shows details of this, in which two measuring organs, for example two measuring rollers, each measure the path in x - and ^{measure 1} y-direction, Fig. 28 shows details of this.

In the embodiment shown in Pig «28 are on Measuring roller 29 laterally two co-rotating optical or magnetic pulse generators' 108 attached, which their pulses to a downstream scanner 108 'each. Depending on

3Ü9S31 / Ö150

The impulses of the two pulse generators 108 are threateningly positive or negative out of phase. A Phasenvergleichsscbaltung thereof determined 109, the traveling direction "8IE are per distance traveled a pulse from that in the in the x-Kiehtung v / irksamen Heßeinrichtung a counter 110 / backward fed forward .. This provides the output signals for the lateral displacements of the device + / äx and ~ & ~ x. These signals are fed to the controller 93 for generating certain program steps in the contour detection or machining program. inX directions are generated independently of the counter 110. Together with the corresponding components from the y-direction, these result in the actual distances s ^ and s ^ via a route calculator 111. The measuring device effective in the y-direction, which is not shown here, therefore has no corresponding counting device.

The pulses x coming from the phase comparison circuit 109 are fed to a pulse repetition frequency reduction 112 which allows the ratio of the number of incoming to outgoing pulses to be changed. As a result, changes in the scale between the area 3 actually scanned and the recording in the storage device 49 ' ^t! be made, whereby the device can be adapted to different sized surfaces to be processed. These changes can be set or specified by the program. The final output signal X is sent to the controller 93 and the memory device 49 "'

104 / 309881/0150

fed, as well as that of the analog, non-drawn Measuring device for the y-direction "The view", of the signal impulses is a cake for the distance covered.

Too much. 29, on the other hand, is the aforementioned measuring device Use only one: a few not shown here Roller 8 is shown as measuring roller 29. The. "Role owns Pulse generator 108 according to "iTig. 23 and becomes accordingly scanned. The scanned: *! Pulses go through a phase comparison circuit 109 to a stretch computer 111'e In addition, There is an angle position transmitter 11 $, which sends a signal accordingly, the swivel angle of the roller art the stretch bucket 111 'is there. This delivers accordingly again the output signals in the x and y directions. To the Outputs for signals Z and Y are then those in I "ig. 28 Pulse sequence frequencyuntei ^ etaungeri 112 shown, respectively for x ™ and y-direction ^ and the counter 110 for the x direction connected »

The program control is shown in the block diagram as an element and has, in a known manner, a control for the in the .Figc 15? ^ 6 and 18 programs shown. As Eingangsinformafcionen for carrying out these programs, the control 9.3 erliält the output of the G-rensfühlers 25, the lateral displacements and distances traveled indicating signals to Wegemeßainrichtung 29 ^f ₅ signals of Winlcel-contactor 200 UNAE different explained later information from the memory, so that the Control both what is needed

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309 8 81/0150

Program as well as the currently necessary program step this Program and corresponding output signal outputs to the circuit 10 for the drive motor and the circuit for the swing motor.

The memory circuit "consists of, for example, through said latch tube given memory device 49 ^'l!, Associated therewith input device ^52'! ', And one of the storage device associated with storage device 53' ^fl 'The storage means is controlled by a positioning device 100 such that each of the the desired storage space is called up individually, i.e. when the signal storage tube is used, the electron beam is currently covering a very specific area of surface. The "input device 52 ¹ " is connected to a coder 101, to which the output signal of the limit sensor 26 and the output signals χ and y of the Wegeraeßeinrichtnng 29 'are fed as' input signal e. The interrogation device 53'''<this memory is with a decoder 102 connected, the output signals of which are fed to the program control 93 as input signals and are also fed to a control for the factual guidance 108 ¹ ', which will be explained in more detail later, and a control for the search run 109 ″, which is also explained in more detail later.

The coder 101 codes for each coordinate change supplied to it a signal fed to it at the same time, which indicates whether a contour is at the corresponding coordinate point has been detected or not, such that, for example, a contour is noted in the memory by a high-level signal. Will on the other hand, the machining program is carried out by the device

106 / 309881/0150

or at the same time as the contour search program "the respective overflowing surface has already been processed, the code sends a signal to the memory for each coordinate point, which means that the respective surface point has been processed. This signal can be differ from the aforementioned signal z * B _c by a weaker level.

The decoder 102 decodes this accordingly for each called up coordinate point stored in the memory and gives - if stored - to his corresponding signal outputs from the signal for stored contour (AK) and machined area (F).

The memory circuit also has two main ~ counters 103 and 104, to which the signals χ and y as counting signals are each supplied. There are also two auxiliary meters 105 and 106 are provided, depending on which of the Device executed program via a switch Σ in each case with their associated main counters 103 or «, 104-connected can that they also receive the signals χ and y of the displacement measuring device 29 'as counting signals. The outputs indicating the respective counter readings of the main and auxiliary counters are via switch and two separate inputs connected to the positioning device 100, so that the positioning device either in the first switch position according to the counter readings the main counter 103 and 104 or in the respectively other switch position is set according to the counter readings of the auxiliary counters 105 and 106. The den

107 / 309881/0150

The outputs indicating the counter status of the main and auxiliary counter are also linked to a comparator 10? lead; that the counter readings of the main counter 1Oi? and of the auxiliary counter 105 and also the counter readings of the main counter 104 and the auxiliary counter 106 rail; can be compared with each other . the controller for the search 109 is connected to ^rl counting inputs of the auxiliary counter 105 and 106, and may give au these count signals "

The operation of the circuit arrangement is as follows: Before starting the device, the main and Auxiliary counters 103 and 106 to an initial count reset 5 which is usually chosen so that the Positioning device 100 corresponding to the counter readings set in this way a '. Suitable coordinate point of the memory, which roughly corresponds to the location of the device on the area to be processed, or comes less close. Although this is not essential for the device to function, it does improve its efficient use of memory. Then the device started l \ Tach When the device is switched on, the program control is in accordance with the Pig. 15 first the pest control program switched on »The device now runs towards a delimitation of the area in any direction, whereby continuously over the Wegemeßeinrichtung 29 'from the device over run enßa coordinate changes χ and y to both the Main counters 103 and 104 as well as auxiliary counters 105

108 / 309881/0150

106 are given because "when the contour renewal program is switched on dor switch Z closed -and thus main- ■ and Auxiliary counter connected to each other Bind * Correspondingly Oil positioning device 100 also guides the electron beam over the storage area analogously to the counter readings dex * Signalspe: i cherröhre «, with springs discrete ZsJileretand the one for the x-direction and y-direction of the llanptcounters 103 and 104 is specified, the Pcsitionieiceinrichtung 100 a precisely this coordinate value corresponding memory element called.

if the device encounters an obstacle, the limit sensor gives 26 emits a signal which is transmitted via the encoder 101 and the input device 52 '"to the position just passed through the positioning direction 100 in the storage device 49 '' ' called memory location is stored. At the same time, the output signal of the limit sensor 26 arrives on the program control 93 5 which thus on the contour scanning switches and corresponding signals to the circuit 10 via the drive motor and the circuit 22 for the swing motor there. As a result of this switching of the Program control 95 on the contour scanning, the switch Z is opened, so that .jetzt with another Movement of the device changes only the counter readings of the main counters 103 and 104. The auxiliary counters 105 and 106, on the other hand, remain at the counter reading reached by the limit sensor 26 at the moment the signal was issued Program control 93 the device is now controlled in the manner described above so that it is the entire contour scans, this contour via the coder 101 and

109 /

30988 1/0150

Wed

the storage device 52 '"is stored in each storage device 49' ^? 'for each discrete meter reading of the main counter. After the complete continuous scanning of the contour, the device finally goes back to the point where the limit sensor 26 sums a" Output signal, the main selectors 103 and 104 must again have the same counter reading with a given accuracy as they had at this point in time and which was stored in the PIiIf counters 105 and 106, && the counter readings correspond to the respective coordinates of the device location If the counter readings of the main and auxiliary counters 103 and 105 "or 104 and 106 again match as described above, the comparator 107 sends a signal to the program control 93, which then switches off the control program and switches on the processing program =

In the machining program, the main and auxiliary counters are connected to one another again via switch Z. In order to control the device, the program control 93 receives not only the signals from the path measuring device 29 but also signals from the memory device 49 ^! '' Via the interrogation device 53 '''and the decoder 102, see above that the program control 93 learns for each individual coordinate point reached by the device, which is also called up in the memory via the positioning device 100 at the same time, whether there is a contour at this coordinate point or whether the area has already been machined at this coordinate point , the device continues on its way to the machining program and saves the

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309881/0150

reuen point as "processed". If so, the device · stops and probes according to the processing program. along the boundaries of the recorded, processed surface as if along a contour.

If the device hits during the set processing ^ - program on an obstacle, the Grenasensor 26 in turn emits an output signal. that in the program control 93 then a switch from / to. Machining program causes on the described Pe system program, if a signal for a stored contour is not received from the memory at the same time. The .Feststellprogram.ni is ended when, again the main counters 103 and 104 have the same counter readings as those assigned to them Auxiliary counters 105 and 106. In this way you can Drive around obstacles in the room and register them in the memory as contours to be cut out. For the sake of clarity, the inclusion of the previously described correction programs in the The method of operation of the device explained here is omitted.

With the search program already described that is switched on after the locking and processing program has ended the main counters are in turn separated from their associated auxiliary counters j where the main counters 103 are now and 104 indicate the unchanged location of the device while the positioning device 100 is on the Auxiliary counter is switched and received these counter pulses according to the respective search program. The electric

111 / 309881/0150

nenstrahl is thus according to the Öuchprogramm. on "the Speicherfläclie the storage device 4-9 '''out being requested each discrete auxiliary count of the associated storage space. -If in the memory means 49'^'f is a coordinate point in an unprocessed area found, the Suchprograiam is turned off and the Auxiliary counters 105 ¹ JJId 106 indicate the coordinate file point found with their counter reading. The comparator 107 determines the path from the actual location to the desired destination from the difference between the ^{main and auxiliary counter reading and then starts the control for the tracking 108 1} ', the described ITachführprcgramm carries out by giving appropriate signals to the circuit 10 for the drive motor and the circuit 22 for the swing motor, the device covers the corresponding path to the destination, in turn - the counter readings of the main counter 103 and 104 as a result of the given counting signals from the distance measuring device 29 'continuously change n. Finally, if the counter readings of the main counter and the assigned auxiliary counters match, then the device is at the desired destination, and via the comparator 10? becomes the controller for the tracking 108 ^! 'switched off. The program control 93 then switches the machining program back on, according to which the surface areas found by the device and not yet machined are machined in the manner described.

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The control also advantageously has switching options on through which during the one a program section the parameters of the individual movement segments are variable according to certain criteria, for example the stride lengths in the x and ^ directions, the span of the U-bend and / or the sensitivity of yon Measuring organs. This also includes the option of reducing the switching interval of the limit sensor *

As part of a search program according to "the Ibbentialsuchverfahren Of course, the direction of the respective can also be used as a criterion for the surface areas to be searched Weakest field strengths or brightness gradients are taken when saving the processed areas For example, charges of an electrical or magnetic nature are not deleted, but applied « For the one described as an exemplary embodiment, with light sources working memory could in this case be reversed in such a way that the memory! is originally dark, i.e. all light pens are sunk. Areas edited for saving are the Then move the pens to their briefly raised light position to save the contours as before to push up.

In the case of memories in which the storage area is "inscribed" by a writing element, the Sdireiborgan stand still completely while the entire storage area

9881/0150

JMS

the Kusi U ¹ GlIrW er κ: executes analog movements »! The query organ can be in operation during the storage process and can control via suitable signaling devices whether a touched border is already stored as a contour and / or whether the device moves on a surface that has already been processed. '■

A M'achi'ührprograairiij the one rational 'Hachführweg searches can already run during the search.

_Registering} Save and taxes can ferner- with all suitable electronic organs known Artdurchgeführt be.

Claims -

309881 / 01S0

Claims (1)

Θ V) * f "* M YX C * Τι" Vt ") 1 f * \\ Λ · / J. u ο. il ο J j- U. ι_ Ii - '·· 1. Procedure sum. Automatic processing of a limited Area where the area of one at the area boundaries its direction of travel; automatically changing processing device is run over, marked., that the processing device traverses the area in accordance with a processing program in a predetermined path sequence «, that during the machining process the machined surface areas and / or surface boundaries found be entered in at least one memory that after completion of the processing program on the memory according to a search program for unprocessed areas searched and caused the processing device to process these surface areas according to the processing program will. 2. The method according to claim 1, characterized in that that the processing device automatically traverses the surface boundary according to a contour detection program and the The contour of the surface is saved. 3. The method according to claim 1, characterized gekennzei chn et _} that before the start of the processing program to limit the device range, a predetermined office or limit the area is given in a memory. 4. The method according to claim 2, characterized in that g e k e η η - 309881/0150 indicates that after exiting and saving the closed contour, stop the corrugation locking program. and the machining program is switched on. The method according to claim ^z l, characterized in that the conclusion of the contour setting program is established in the memory by recognizing the starting position on the basis of its stored coordinates or by striking the stored contour. 6. The method according to at least one of claims 1 / to 5 * characterized in that the saved outer contour excludes memory areas from the search program that are outside this contour. 7. The method according to at least one of claims 1 to 6, characterized in that Contours of obstacles within the surface when the processing device hits during the processing program by switching to the contour detection program determined and stored, and then the machining program is continued. 8. The method according to claim 7? characterized in that closed obstacle contours' exclude the enclosed area from the search program. 9 · Method according to at least one of claims 1 to 8, characterized in that processed surface areas and / or contours as 5/3 0.9 8 8 1/0 1 5 0 Af * "education to be saved" 10. The method according to at least one of claims 1 "to 8, thereby g e k e η η s e i c Ii η e t that "processed areas and / or contours as bats their coordinates are saved * 11. Verfahr s in particular according to claim 1, characterized characterized in that the processing device in contours! eststellprogramin to the to be determined Contours in predetermined displacement paths ■ gropes along, which contain the following elements: decelerating on contact with the contour, moving back essential-3-i against the direction of impact at least until the contour contact disappears, at the same time or afterwards initiation a movement with a transverse component, which leads to a closed trajectory, which the device under would lead back to the point of impact at an angle other than the one that had occurred. 12. The method according to at least one of claims 1 to 11, characterized in that in the contour setting program, if after a contour contact and a complete trajectory leading back to the contact point does not have the same contour contact takes place again, the device stops and goes into the machining program switches. 13. Method according to at least one of claims 11 and 12, characterized in that 303881/0150 the complete cross-linking structure has the form: '. Ellipse has or approximately consists of two U-arcs consists, the legs of which are essentially straight. 14 «Method according to at least one of the claims IT and 12. thereby g e k e η nz e i c h η e t that the · complete dislocation. about building shape «, 15 »Method according to at least one of claims 11 and 12, thereby p; e k e η η ζ e i c h η e t that the complete Versetznngsbahn has approximately skin shape. 16. The method according to at least one of claims 1 to 15, characterized in that the contour is saved by means of signals given when the limit is reached * 17 «- method according to at least one of claims 1 to 16, characterized in that the processing device according to the processing program in approximately parallel paths between each opposing Limits are moved. 18. The method according to at least one of claims 1 to 17ϊ, characterized in that the machining device for the machining program a reversible main direction of travel (ί Y) for the parallel 5 / 30.9881 / 0150 len tracks and a transverse direction that is approximately perpendicular to this (x) is embossed as a constant basic direction for the lateral offset. 19. The method according to claim 18, characterized. g e k e η η indicates that the device is in the editing program Carry out the following movement steps in the event of border contact: Stopping, moving back, etc. in the direction of impact, one arcuate lateral displacement step up to either a) the main direction of travel is reached and the drive continues in this direction until the new limit is reached, where the game is repeated until the transverse offset is approximately one web width, whereupon the device moves back in its main direction of travel if necessary and reverses it; b) a boundary contact during the relocation step before reaching the main direction of travel a new one Initiates the sequence of movements as above, whereby the device tries to move back into the main direction of travel move until they are reached or until a new limit contact, whereupon the game repeats, until the offset in the transverse direction is about one web width, whereupon the device 6 / 309881/0150 if it moves back in its main direction of travel and reverses it. 20. The method according to claims 18 and 19, characterized marked that the device is at Reversing the main direction of travel in this rotates " 21. The method according to claim 19, characterized in that each offset step as approximately U-shaped from the border back "and laterally again leading movement towards it takes place. 22 «Method according to at least claim 19, characterized marked that the device with each Displacement step an approximately sawtooth-shaped, or essentially corresponds to an open rectangle. 23. The method according to at least one of claims 1 to 22, characterized in that the machining program is aborted when the movement the offset steps against the transverse direction exceeds a predetermined distance. 24. The method according to at least one of claims 1 to 22, characterized in that "the machining program is aborted if within a given time does not take a given route 7 / 30.9881 / 0150 distance is covered. 25. Procedure. according to at least one of the claims 1 to 22, g e k e η. η is characterized by the fact that then the processing program is aborted if within a given time of the contour contact disappears. 26. The method according to at least one of claims 1 to 25j characterized in that after the end of the processing program the search program is switched on * 27. The method according to at least one of claims 1 to 26, characterized geke η. η ζ calibrates that saving the processed planar areas and / or the contours and / or searching for the unprocessed l ^? surface areas is done optically. 28. The method according to claim 27, characterized in that g e k e η η · - that for storing the optical properties a corresponding memory area can be changed. ■ '". "... 29. The method according to claim 28, characterized in that the brightness by removing a Topcoat over light-colored, or applying a topcoat to light-colored surfaces is changed. 8th/ 3098 8 1/0 150 •he- Method according to Claim 28, characterized in that there is a fee η η draws ^ that the Helligkoit by different Setting of directly or indirectly illuminated elements - is changed «, 31. The method according to claim 2 ?, characterized g e k e η η draws that to save the contours the areas on the other side of the storage tank are optically shielded, 32. "Method according to at least one of claims 1" to 26 _? characterized in that the "processed surface areas and / or contours" and / or the search for the unprocessed surface areas are stored magnetically. * 33 · The method according to claim 32. characterized in that znv \ storage of the processed. A magnetic field is generated on corresponding storage areas, or an existing magnetic field is changed or deleted * 34-. Method according to Claims 32 and 33, characterized in that * t that to store the contours the magnetic conductivity between the two memory areas adjacent to the contours is interrupted. 35 · Method according to at least one of claims 1 9 / 30 98 8 I / O 1 5 0 to 26, characterized in that saving the processed surface areas and / or the contours and / or searching for the unprocessed Surface areas are carried out electrically " 36. A method according to .Anspruch 35, characterized geke nn is distinguished, that corresponding to store the processed surface areas of memory areas are changed with respect to their electrical charge. 37 · Method according to claim 35, characterized draws that for storing the contours the electrical conductivity between the 'two to the Contour bordering storage areas is interrupted « 38. The method according to at least one of claims 1 to 26, characterized in that saving the processed surface areas and / or the contours and / or searching for unprocessed ones Area is done electronically. 39 · Method according to at least one of Claims 1 to 26, characterized in that saving the processed surface areas and / or the contours and / or searching for unprocessed ones Surface areas is done mechanically. 40. The method according to at least one of claims 2 to 39, characterized in that 10 / A ( 30.9881 / 0150 the processed surfaces and the contours are saved on separate memories. 40a. Method according to at least one of claims 2 to 39 characterized in that the storing of the machined surfaces and the storage of the contours with different signals on a memory. 41. The method according to at least one of claims 1 to 40, characterized in that the transferring of information and commands takes place magnetically and / or electrically and / or electronically. 42. The method according to at least one of claims 1 to 41, characterized in that simultaneously or alternately with the storage during the storage the storage area is queried. 43. The method according to claim 42, characterized in that g-e k e η η, that the "correspondence of the respective locations of the processing device on the surface and the Input organ on the memory is checked and corrected if necessary. 44. The method according to claim 43, characterized in that the time correspondence is used for checking between touching the limit of the device and reaching a stored contour by the interrogator is checked. 45. The method according to claim 43 and 44, characterized in that during the correction no storage takes place. 309881/0150 45a. Method according to at least one of Claims 43 to 45, characterized in that upon impact of the interrogator on a stored contour, without the device touching a border, this decoupled and is moved on to the limit. 46 «Method according to claims 43 and 44, characterized in that when a limit is reached on the surface without reporting a stored contour by the query organ this decoupled and to control the Distance to the next stored contour is moved on alone. 47 · The method according to claim 46, characterized in that it is e k e η η ζ e i c hn e t that the interrogation member in the last direction of movement by approximately the largest extent of the processing device Continue to the corresponding route and reach Nient a stored contour is moved back - and the activation of the contour detection program for an obstacle caused. 48. The method according to at least one of claims 43 to 47, characterized in that. that to a forum comparison between a touched border and a stored contour the processing device at the border and the Query member are moved in parallel at a predetermined distance. 49. The method according to claim 46, characterized in that if there is a difference in the transverse direction ■ the path of the disconnected query organ to the stored one Contour measured, the interrogator moved back to the decoupling point, offset one step to the side and approximately parallel to the previous path is moved back towards the contour, this path is also measured, the interrogator return- 303881/01 SO moves and this game is repeated a predetermined number of lateral steps, whereupon the measured · Paths are compared v / ground and, if their difference exceeds a predetermined size, a correction is made will. 50. The method according to at least one of claims 1 to 49, characterized in that Searching for the unprocessed areas ■ on the memory with the help of intensity differences between the processed and the unprocessed surface areas. 51 »The method according to claim 50, characterized in that the intensity differences after Size and direction of at least one on electromagnetic radiation and / or electrical or magnetic radiation Field lines responsive probe are detected and after the detection process the probe in the direction of a detected Field line gradient is moved on the storage area. 52 »Method according to claim. 5I j characterized in that the intensity differences in in the order of their magnitude. 303881/0150 53. The method according to at least one of claims 1 to 52, characterized in that at least 'during the machining program before everyone Registration of a processed surface element in the memory, this is searched for whether the to be registered surface element has already been processed, and that only in the negative case, further movement of the device "is released. 54. The method according to at least one of claims 1 to 53 5 characterized in that searching for unprocessed areas by systematically querying the storage area according to a search program he follows. 55 · Method according to claim 54 ·? characterized in that the query in one The sequence of movements roughly corresponding to the machining program with the same or ■ opposite direction he follows. 56. The method according to at least one of claims 1 to 55 _5, characterized in that the storage area is scanned in the form of a path running approximately helically from the outside to approximately the center or vice versa. 37 » Method according to at least claim 50» characterized in that the processing 14 / 9/30 881/0150 the closest to the one on the memory and / or unprocessed with the greatest potential difference Area corresponding to;) area is supplied directly and processed « 58, the method according to at least one of claims 1 to 57s, characterized in that in the memory according to a tracking program a short and / or consisting of approximately straight sections ITacliführweg between the processing device and the unprocessed surface area found is determined. 59- The method according to claim 58, characterized draws that the Hachfuhrweg by electronic Evaluation of the location coordinates of the device location and the unprocessed area is determined. 6.0. Method according to claim 58, characterized in that the ITaehführweg im is essentially determined by scanning the stored contours. 61. The method according to claim 60, characterized in that * t that the shortest straight line connection between the processing device and the Unprocessed surface area searched for on the storage tank, and a contour in the way of the ■ point of impact 15 / 3038 8 1/0 150 / 30 in the manner of the Kontureri'estr / cellprogramnes sis detour ungangen wire! " 62. The method according to at least one of claims to 61, thereby g e k e η η a e i c h η e t that from the point of impact to a straight path between Processing device and unprocessed surfaces - Contour interrupting the area, this is followed according to the type of the contour locking program and for each or every nth attempt on the contour is, rectilinearly the unprocessed surface area to reach until the point of impact that allows this is reached, and then from this point of impact back one point of impact that can be reached in a straight line by the processing device or several, jev / eils points of impact that can be reached in a straight line from one another, the last of which is straight from the processing device is attainable, determined wex-den, so that the determined Points of impact the corners of a polygon as Form H'achführweg. 63. The method according to at least one of claims to 62, characterized in that the processing device on the tracking path to the unprocessed Area out and this is processed. The method of claim 63> thereby 16 / 3 0-988 1/0 150 k e η η ζ e i c Ii η e t that the processing device on the mil. · e work tön flilchenbereioh in a starting position for editing that is brought to the Processing program according to paths between two each other approximately opposite borders .leads. 65 «Method according to claim 6J, characterized in that the processing device by querying the memory for the outlines of what is being processed Area is controlled «, 66 »Method according to at least one of the claims up to 65 j characterized in that after processing a found unprocessed surface area another unprocessed! 'laugh area searched and controlled and processed in the same way. 6 ?. Method according to spoke 66, characterized in that each time before the processing of an unprocessed surface section, the transverse direction imprinted for the processing program is reversed compared to the last processing operation " 68 «Method according to at least one of claims 1 to 68, characterized in that 17 / 3038 8 1/0 15 0 222B778 When looking for potential investigations with a negative search result, the sensitivity of an interrogation organ is increased and searched again. 69. The method according to at least one of claims 1 to 68 j thereby gekennseich.net that if the search result is negative, the parameters of a query ^ gps to be changed. 70. A method according to any one of claims 1 to 69 j ₅ characterized in that at unchanged negative search result canceled the search program and the processing device "is turned off. 71. The method at least according to claim 70, characterized in that characterized in that the processing device is returned to a certain take-off site before being switched off « 72. The method according to at least one of claims 1 to 711, characterized in that the path shapes and / or dimensions for the KonturenfeEtstellprogramrn and / or the editing program. before can be set manually changed during the program sequence. 73- method according to at least one of claims 1 to 71ί, characterized in that 18 / 30-9881 / 0 150 the path ions and / or dimensions, for the contours Feststellprogramin and / odez · the machining program changed under program control during the program sequence will. 74-. Method according to Claim 73 _5, characterized in that the change is triggered by a program sequence which is disturbed when the machining device is stuck. 75- The method according to at least one of claims 1 to 74-, marked by the fact that with disturbed The search program is switched on automatically. 76. Apparatus for performing the method according to at least claim 1, with a processing device on one drivable chassis, with a limit sensor and a deflection device for the landing gear, characterized by a fixed or programmable control (93) for the drive (10) and the deflection device (22) of the chassis (2); a transmission device with a receiving element (29) responsive to the movement of the chassis (2) and an input element (52) \ at least one which can be connected to the input member (52) Memory (4-9) for saving edited FIa 303881/0150 areas and / or contours touched; a query organ (53) searching for unprocessed surface areas and / or controls on the memory ( ^z i-9) 5 transmission elements for coupling the egg-laying element (52) rait the limit sensor (26) and / or the 'transmission device ■ and / or the drive ('1O); and iCopT - regulating organs stalk connecting the iCopT organs (53) With the control (93) and / or the drive (10). 77 · Device according to claim 76, characterized in that the pick-up organ Liit the chassis (2) or the hot rollers (29) connected pulse generator (108) for outputting two pulse sequences mutually shifted for forward / reverse / arm discrimination, a phase comparison circuit (109 ) for the two pulse trains to emit a directional signal per distance traveled element, a downstream pulse train scaler circuit (112) for expanding or compressing the distances indicated by the pulse train, a forward / backward counter (110) for integrating the movement generated in the x direction Ιια-pulse to generate the lateral displacements of the device indicating signals (* Δχ, - Δ ^ ζ) , and a path computer (111) with which signals (S, Sp) for the distances covered by the device from the pulse trains are derivable. 78. Apparatus according to claim 77, characterized in that a direction of movement the device detecting angle encoder (113) is provided, which is connected to a route computer (111 ') 20 / 30.98 8 170 1 50 is bound, which is also supplied with the pulse sequence generated by the phase comparison circuit (109) for a movement of the device in only one direction and the signals (x, y) associated with the movement of the device can be determined with öew from the pulse sequence and the angle . '/ 9 device according to claim 76, characterized in that a main (103, 104) and auxiliary counter (I05, 1.06) are provided for each coordinate direction Jo, which with the -a pulse sequence for each coordinate direction (x, y ) indicating measuring device (29 ^! ) are connected that the main counter and the auxiliary counter with their counter outputs each to a comparator (107) comparing their respective counter readings, the output of which is connected to the program control (93), and a memory (49 * '',52' ^f ', 53'") are connected to the positioning device (100) controlling the memory, rplatabeStimmen and that the counting inputs of the main and auxiliary counters can be connected to one another as a function of a signal from the program control, the main counters indicating the position of the device and the auxiliary counts indicate the respective memory location called up. 80. Device according to at least one of claims to 79, characterized in that the chassis (2) has a frame (7) with driving elements (8 or 34- to 4-1) arranged thereon, of which 21 / 3 0-9 8 81/0150 at least one ^ia:; .t is coupled to the steering device (22), and mil; a drive (10) for little part of one of the Fahreleiae.ate. 81 .. device according to claim 80, characterized in that the P & hrelemente auc pivotally mounted on the frame (7) rollers (8) "exist. 82 «Device according to claim 81, characterized in that - indicates that each role (8) with their The axis of rotation mn'eine running approximately through its point of rest vertical axis pivotable on a roller carrier (9) is1 3t. 83. Apparatus according to claim 81, characterized in that each roller (8) by one vertically at a horizontal distance from their point of rest extending axis around .schwenkbar. 84-, device according to at least one of the claims to 8J, characterized in that the deflection device has a swivel motor (22) mounted on the frame (7) for the rollers (8). 85- Device according to claim 84-, characterized in that it identifies n. e t that the swivel motor (22) connected to a chain drive and on each roller carrier (9) at least one with the chain drive in one 22 / 3 0-9881 / 0150 ag? - ■ handle setting sprocket (20) is arranged. 85 * device at least after. Claim 80, characterized g e k e η r- κ e i c L. η et that am Sahnen (? ') for at least one traveling element (34) non-pivotable in each direction of travel and by the UmIeicheinrichtung alternating with the driving element or elements (34) for the other direction of travel can be raised or lowered. 87. Apparatus according to claim 86, characterized in that as a teaching element on the Sabinen (7 ¹ ) two pairs of rollers (34) rait mutually parallel axes arranged at right angles to the axes of the other pair alternately through the deflecting device (36 to 40) or lowerable · are mounted. 88. The device according to claim 87 i, characterized in that the UmIeniceinrichtung for each valve (34) joins them in the direction of the surface (3) away onerous energy storage device (39) and a for deflecting optionally pressurized against the energy storage mechanism (39) has effective lowering device (40). 89. Apparatus according to claim 88, characterized in that - ^; indicates that the lowering device consists of a lifting magnet (40). 90. Device according to at least one of claims to 89, characterized in that • 23 / 30.9881 / 0150 Atf the vJalsen (34) are mounted individually or in pairs in a raised state so that they can be swiveled by a Sehnerloiiotor _e 91 r device according to some den? Claims "to 86, characterized geke η η ζ eic Ii η et that main chains (-Vl) provided oincl as the driving element. 92. Device according to claim 91, - dadui'ch. & e indicates _? that a system of radially disposed about a common Antriehsspindel ( 'I ¹ O Eaupenlcetten ^(provided 4-i). 93 »Device according to claim 92, characterized in that the deflection device consists of a carrier device (46) rotatable concentrically around the drive spindle Ο'Λ ) for a system of chain chains (41) arranged in the longitudinal direction of the spindle axis. Device according to claim 93? characterized that the carrier device is concentric to the spindle (44) by a swivel motor (22 ') bushing (46) rotatable against the spindle axis There is at least one group, arranged in a star shape on the socket (46), of a support arm with a roller (42) for a Saupenkette (41). 24 / 30-9881 / 01 50 95. Device according to at least one of claims 76 "to 94-ί denoted by the fact that eggs Limit sensor (26) mechanically and / or electrically and / or magnetically fixed to the steering device (22) is. 96. Device according to at least one of claims / 6 Ms 95J ₅ characterized in that the limit sensor (26) mechanically and / or electrically releasably coupled and / or magnetically and / or electronically with the Eingeheorgan of the memory. 97 · Device according to at least one of claims 76 "to 96, characterized in that at least one limit sensor (26) is arranged on each front area of the chassis in a possible direction of travel is, 98. Device according to at least one of claims 76 Ms 96, characterized in that the limit sensor (26) largely surrounds the chassis (2) immediately-trained. 99 · Device according to at least one of claims 76 to 98, characterized in that the limit sensor is designed as a sensing device. 100. Device according to at least one of claims 76 25 / 30-988 1/0150 to 99s characterized geke η η ζ eic Ii et η that each Gr is coupled era si υ counter (26) with at least one 'Schaltoz-gan (27) for the Umlenkeiiirichtung (22) and / or the Eingebeorgan (52) " 101. Apparatus according to claim 100, characterized in that g e characterizes t that the Scliaitorgan (27) with the Unleukeinrichtung (22) and / or the input member (52) acting elements of the control (93) is coupled. 102. Apparatus according to claim 98, characterized in that g e that the limit sensor (25) is suspended in a pendulum fashion, the chassis (2) at the side surrounding shield formed, and on the chassis (2) in each in a possible direction of travel, front area when touching the limit sensor (26) can be acted upon Pressure contacts (27) for influencing the control (93) and / or the memory (4-9) and / or the Deflection device (22) are arranged. 103 device according to at least one of claims 76 to 100, characterized in that the limit sensor C26 ¹ ) consists of at least one closed pressure chamber with a contact membrane (48). 26 / 3 0.9881 / 0150 1OA-. Device according to at least one of the claims to 100, characterized. that the limit sensor (25) is designed as ο floor button «, 105 · Device according to at least one of the claims to 104 ·, characterized * that axa chassis (2) are provided as limit sensors, both horizontal load sensors (26) and floor buttons (28). 106 «Device according to at least one of claims up to 105, characterized in that the limit sensor (26) has a protective covering. 107. Device according to at least one of the claims to 106. characterized in that the processing device x ^ at least one contactless Limit sensor on v / eist. 108. Device according to claim 107 » 'characterized in that the limit sensor is designed as an optical device. 109 · Device according to claim * 107 »·" "· ' characterized in that the limit sensor is designed as a heat sensor. 110. Apparatus according to claim 107, characterized in that the limit sensor as an ITüh- 27 / 305881/0150 ler for · electrical or magnetic radiation or charges are formed. 111. Apparatus according to at least one egg Claims? S Ms 110, characterized geke η η ζ 3 I η ct that the "üliertraPjUngseinrichtimg as a receiving organ at least one exactly in the direction of movement of the Fahrwerkε at the surface (3) rolling the measuring roller (29) having. 112. The apparatus of claim 111, characterized in that ₅ a pivotable roller (δ) of the ITahrwerks (2) is formed als.ließrolle, 115 performance according to at least one of claims 76 up to 109, thus marked. that the transmission device has at least two measuring rollers (29), the axes of which can be steered at right angles to one another are arranged on a frame (7) of the chassis (2). Device according to at least one of Claims 111 to 114, characterized in that the Kessrolle or rollers (29) are pressed against the surface (3) by spring force. Device according to at least one of Claims 111 to 114, characterized in that the measuring rollers (29) have radial lamellae on their outer surface. 28, 03 8 8 1/0150 116 ', performed after. Speech. 115 », characterized in that the lamellae (33) on Outer circumference are arched " 117 · Device according to at least one of the claims to 109, characterized in that 'that the transmission device as the receiving organ is a device for contactless measurement of speeds has above ground. 118. Apparatus according to claim 117 »thereby g e - indicates that the device for measuring the speed at least two spaced one behind the other in the respective direction of movement, optically or electrically in the manner of an echo sounder working signal transmitter and receiver and one of the signals has for speed measurement evaluating device. 119. Device according to claim 117 »characterized by k- _? that the device for measuring the speed has a marking device for applying markings on the inexperienced surface, and at least one organ registering the markings in a distance behind the marking device corresponding to every possible direction of movement. 120. Device according to at least one of claims to 119 »characterized in that 29 / 30-9881 / 0150 jm the transmission device control devices for the route measurement are assigned. 121. The apparatus of claim 120, characterized _$ that the control device is designed as richtungsstabilisierender gyroscope. 122. Apparatus according to claim 120 and 121, characterized in that the measuring roller or rollers (29) -A diameter test roller is assigned to each. 123 device according to at least one of the claims to 122, characterized in that the transfer device has both one or more measuring rollers (29) as well as a non-contact speed measuring device. 124. Device according to at least one of claims to 123, characterized in that the receiving organ as an inertial navigation device known per se is trained. 125. Device according to at least one of claims to 124, characterized in that the receiving element (29) with the input element (52) is detachable 30 / 303881/0150 - 3-way is mechanically coupled. 126. Device according to at least one of the claims to 124-, characterized in that the receiving element (29) with the input element (52) is detachable is electrically coupled. 127- device according to at least one of the claims to 124, characterized in that the receiving element (29) is coupled to the input element (52) by means of data transmission. 128. Device according to at least one of claims to 1285, characterized in that the input member (52) is arranged on a "movable guide arm (51)". 129 «Device according to at least one of the claims to 128, characterized in that the memory (49) has a surface (50) that can be traversed by the input member (52) in a manner analogous to the movement of the chassis. 130. The apparatus of claim 129, characterized in that the Eingebeorgan (52 * ') is a write unit and the storage area (50 ¹¹⁾ is formed as a writing surface. 131 · Device according to claim 130, characterized in that the storage area 31 / 309881/0150 chenelemerite with variable optical properties and the input member is designed to change these properties. 132. Apparatus according to claim 131 »characterized in that the storage area (50 ^! ) Is designed as a luminous area with direct or indirect lighting and a coating device for changing the brightness or for complete covering is provided as an input member (52 '). 133 device according to claim 129, characterized in that the storage area (50 ') with adjustable Einzelelliclitquellea (6A-) and the input organ (52 ') as an adjusting element for the light sources (64) is trained. Device according to claim 133? characterized in that luminous bodies as light sources (64) with partially covered, partially uncovered and partially reflective surface adjustable in height in bores (63) of the storage area (50 ') are arranged and e_i.n essentially mechanically the height adjustment effecting input member (52 ') is provided is. 135 device according to claim 134, characterized in that the luminous bodies (64) from consist of light-conducting material and give them at least one 32 / 30-9881 / 0150 Lighting device (68) is assigned. • 136. Device according to claim 135 »characterized in that the luminous bodies ('64) than pens with an opaque head (65)? emitting a light approximately perpendicular to its axis Intermediate piece (66) and one'an. the outer surface ver ~ mirrored lower part (77) are formed. 137 «A device according to any one of claims 134" to 136, wherein _"5 that the Eingebeorgan (52 '') to a guide (51 ') for storing the processed surface areas of a ■ each reached pin (64) to the opaque head (65) in the storage area (50 ') pushing carriage (52'a). . 138 · Device according to claim 137? characterized in that the _{Eingebeorgan}} having pins acted upon by the one-touch .Grenzfühler at boundary lifting apparatus for hoisting. · 139 · Device according to claim 138, characterized in that t that the input member is resiliently mounted on the guide arm so that it is vertically displaceable. 140. Device according to claim 138 and 139? characterized in that the lifting device from 33 / 30-9881 / 0 150 an electromagnet acting on the input organ consists. 141. Device according to at least one of the claims to 140, characterized in that the carriage is magnetically excitable by means of a magnetic coil and the head of each pin is magnetically excitable removable covering is provided " Device according to at least one of the claims to 14-1, characterized in that the input member a switching device actuatable by the control device for switching the on and off Electromagnet and the magnet coil, and for reversing the polarity of the magnet coil is assigned. 14-3 device according to at least one of the claims to 128, characterized in that the storage area (50) consists of a number of area elements which are electrically connected to a limited extent and the input member (52) for storing the processed surface areas as a charging or discharging device for electrical Charges are formed, 144. Apparatus according to claim 143, characterized in that the input member (144) for Contour storage has a device for interrupting the conductivity between individual surface elements. 34 / 30-98 8 1/0 150 145 device according to claim 144, characterized in that it identifies net that the input organ (52) a starting device for separating de :? Has surface elements. 146. The device according to at least one of claims ^r / 6 to 128, characterized in that the storage area (50) consists of a number of limited magnetically-conductively connected surface elements and the input element (52) is designed for building up or erasing magnetic fields and one Has device for destroying the magnetic conductivity between individual surface elements. 14-7. Device according to at least claim 76, characterized characterized as having a digital memory and a recording device providing digital quantities. 148. The device at least according to claim 76, characterized characterized in that it has a digital memory, a recording device which supplies analog values and an analog-to-digital converter for these quantities. 149. Apparatus according to claim 76, characterized in that its memory (49 ''') is a ^: fast signal storage tube with relative 35 / 303881/0150 has a long storage period with one storage area of one, isolated elements that are connected by a Electron beam can be acted upon with a charge and can be queried by an electron beam. 150. Device according to at least one of the claims to 146, characterized in that the interrogation member (53) is arranged on the guide arm (51). 151. Device according to claim 150? characterized in that the Pührungsarra (5Ό can be moved mechanically or electrically with a programmable search control device. 152. Apparatus according to claim 151 »characterized in that the search control device at least one memory for coordinate values is allocated. 153- Device according to at least one of the claims to 152, characterized in that the interrogation element (53) has at least one sensor (72 to 74, or 88 and, respectively, responsive to differences in brightness) 89) has .. Device according to claim 153 »characterized in that the interrogation element (53 ¹ ) has a memory (4-9 ') with pen-shaped luminous bodies (64) 56 / 308881/0150 -se- an optical organ 0/2 to 4 ·) which is arranged on the guide arm (5'I ^{1) and only receives approximately horizontally emitted light.} 155 «Device according to at least one of the claims to 152, characterized in that that Abirageorgan (53) at least one on color differences responsive sensor a.ufwe5.st. 156 «, device according to at least one of the claims to 152, characterized in that the interrogation member (53) at least one on magnetic fields sensor that responds to different field strengths « 157 device according to at least one of claims to 152, characterized in that the Abirageorgan (53) has at least one sensor (60 to 62). 158. Device according to at least one of the claims to 149, characterized in that as an interrogation device, a reading device for a digital memory \ 'is foreseen. 159 «Device according to at least one of claims 7 ^; 6 to 149, characterized. that the interrogator is an electronic search beam (99). 303881/0150 / Sl 160. Vo: .'- direction according to at least one of the approaches 6 "to 159; thereby geke η η zeic.hnet. That the query organ ( ^[ 33 ^ and / or the search your device a mechanical and / or electrical -and / or electronic coupling with the drive (10) or the control (22) of the converter (2) is assigned to its tracking « 161. Procedure at least according to claims 54 or 55> characterized in that the storage area A search is carried out in two coordinate directions, v / whether the search path is straight until touching a recorded contour, a predetermined step makes back against the direction of impact, because vertically offset a given step: a) if there is contour contact, against the direction of impact runs to the opposite contour, reversing there, up to the named point of contour contact returns and. then repeat the above game, b) if there is no contour contact, always in the same direction of rotation, perpendicular to the last step and - if still no contour contact - again 'perpendicular to the last step in each case, offset one step each up to the contour contact, and then continue according to a). 162. Method according to at least claims 54 or 55? characterized in that the storage area is searched in two coordinate directions, 309 881/0150 The search path goes straight up to the contour contact, then takes a given step back substantially against the direction of impingement, then takes a step further offset by 90 'in the given direction of rotation, until contour contact occurs, then runs against the direction of incidence until the opposite contour runs, there one Step back and move against the direction of rotation of the previous contour contact by steps offset by 90 ° until contour contact occurs 5 whereupon the game repeats » "163 ° method according to at least one of claims 1 to 74-, characterized in that of A scaling factor for the storage can be set manually in order to adapt the storage size to the size of the working area. 30-98 8 1/015 0 Blank page