DE102014004370B4 - Device for processing floor surfaces - Google Patents

Abstract

The invention relates to a device 2 for processing of floor surfaces 1, in particular for processing riding arenas, with at least one of power lifts liftable and lowerable machining tool 4 such as a blade and with at least two stationarily supported on the bottom surface transmitter units 8 for generating laser beams 9 and a laser unit 9 of the transmitter units 8 as measured values receiving, supported on the device 2 receiver unit 6 comprehensive control over which the power lift and the bottom tool 4 in response to the measured values of the receiver unit 6 can be raised and lowered. In order to be able to adjust height levels reproducibly, in particular reproducibly on riding fields 1 or riding tracks, it is provided that the receiver unit 6 has on its circumference at least two spaced-apart and vertically aligned CCD or LED strip elements 7 with a multiplicity of light detectors arranged one above the other 7.1 and comprises on its circumference at least two spaced-apart and horizontally aligned CCD or LED strip elements 10 having a plurality of juxtaposed light detectors.

Description

The invention relates to a device for processing of floor surfaces, in particular for the processing of riding arenas, with at least one lifting and lowering of power lifts machining tool such as a blade and with at least two stationarily supported on the bottom surface transmitter units for generating laser beams and having a Laser beams of the transmitter units as a measured value receiving, supported on the device receiver unit comprising the power lift and the bottom tool depending on the measured values of the receiver unit are controlled raised and lowered.

Riding arenas of, in particular, sports events are to be regularly prepared during and after equestrian events with equestrian planning devices in order to adjust altitude levels that provide comparable starting situations for competitors.

Conventionally, self-propelled or towed devices are used which have tillage tools such as leveling blades and possibly also downstream rollers to bring soil accumulations in areas in which depressions have adjusted in the bottom surface. This is usually done by eye by an operator, with height and depth settings of dozer blades are made manually.

From the WO2006 / 070009 A2 For example, a device for adjusting ground surface levels is known in which laser beams are generated by means of a rotary laser. The device for processing a floor surface has two receiver units, via which the instantaneous height of the device on a floor surface and a local position detection on the floor surface can be determined. For local position detection spaced apart receiver units are used, which detect the laser beams of the rotary laser and perform a position determination due to the angular difference. Details of how the receiver unit should be designed in this device for a practical control of this device for floor surface processing, however, are not apparent from this document.

From the DE 20 2005 002 555 U1 a device for the self-propelled processing of a riding track is known, which has a tillage tool such as a smoothing tool, which is raised and lowered via power lift.

A receiver unit is provided with a control unit with which light signals output by transmitter units, which are arranged stationary on the floor surface of the riding lane, are to be processed as corresponding measured value signals. As a function of these measured value signals, power lifts of the smoothing tool are to be controlled in order to be able to set a predeterminable height level of the riding track in an automated way. More detailed details of how the receiver unit and / or the transmitter unit should be designed, however, are not apparent from this document.

From the US 5 022 763 A For example, there is known a rotary laser receiving apparatus which emits a laser beam rotating in a reference plane and which is to be used for the guidance of machines for public works. The apparatus comprises a receiver assembly mounted to a machine frame, which assembly comprises discs carrying photodiodes and arranged about a fixed axis to form a column for detecting the trajectory of the 360 ° rotating beam. The assembly is protected by a surrounding enclosure which is covered by a protective cap. The slices of photodiodes are said to be in the number of three and arranged vertically about the fixed axis by having an angle of 60 ° therebetween. The disks are held in position by hexagonal intermediate carriers carried by the axle and fastened by means of clamping brackets on support members carried by the axle so as to be detachable by means of each end of the fixed axles and around this axle arranged damping elements. With such an arrangement, however, different height levels of ground surfaces are not editable.

It is an object of the present invention to provide a device for processing of floor surfaces, in particular for the processing of riding arenas or riding tracks, with the height reproducible height levels are set by automated means, which in addition to the height level also a local position detection of the device on the floor surface to be possible should.

To solve this problem, the device of the type mentioned is characterized in that the receiver unit has on its circumference at least two spaced apart and vertically aligned CCD or LED strip elements with a plurality of superimposed light detectors and that on its circumference at least two spaced and horizontally aligned CCD or LED strip elements with a plurality of are provided adjacent light detectors.

Thus, a device for tillage of particular riding is created in the automated way different height levels on the vertically oriented CCD or LED strip elements can be detected and depending on this height level detection via the control unit to control the power lift or other drives of tools in order to push away clumps in the floor surface and thus to smooth and automatically detect the floor surface when, for example, the device is driving a recess in a floor surface, in order then to raise the floor tool accordingly. This soil material is then pushed from areas of elevated soil level in the recessed areas.

The laser beams and the horizontally oriented CCD or LED strip elements can be used to identify position positions on the riding arena. Due to the horizontal longitudinal extent can be assigned very accurately corresponding laser beams over the length of the horizontally aligned strip elements, so as to ensure that at each position of the bottom surface, so usually in each position of the riding arena, receive corresponding height level signals, but also corresponding position signals be and can be evaluated via the control unit. This also allows an automated machining process to be carried out.

The high extent of the vertically aligned CCD or LED strip elements is based on the usual level of height levels to be compensated, so as to ensure that in each position of the device of the vertically aligned CCD or LED strip elements with the plurality of theredetected light detectors a corresponding signal of the rotary laser devices can be received.

On the device, only one receiver unit is necessary, which has alternately vertically aligned and horizontally aligned CCD or LED strip elements on its circumference. The term horizontal and vertical are to be understood in the context of the present application, that here is set to a flat floor level.

CCD bar element is to be understood in the language of the present application, a charge-coupled device sensor (CCD sensor) and under the LED strip element, a light-emitting diode strip element.

The respective receiver unit may be surrounded by a wall, in particular by a translucent wall. In the region of the vertically aligned CCD or LED strip elements, a vertically oriented opening gap can be provided, via which laser beams can reach the interior of the receiver unit, the light detectors of the horizontally oriented CCD or LED strip elements being arranged in the interior. The high extent of the opening gap is again based on the height levels that are to be expected during the processing of the bottom surface. In order to manage only with a light bar, it can be provided that in the light entry direction of the opening gap, a parabolic mirror is arranged downstream, which deflects the laser beams accordingly. For this purpose, the CCD or LED strip elements is tilted by approximately 90 ° provided in the receiver unit, so that it points with its light detectors in the direction of the deflected laser beams, that is aligned to the bottom surface.

Such an off-axis parabolic mirror may be an inwardly-curved mirror that reflects the laser beam so that it passes through a focal point, so that the beam is always reflected on the CCD line. In such an off-axis parabolic mirror, the curvature of the mirror may be selected so that the focal point occurs at a predefined location which is outside the parabolic mirror. Thus, the CCD line can be mounted to save space and does not need to be fixed in the beam path of the emitting laser module.

The use of such an off-axis parabolic mirror enables an angle determination over the necessary detection range of approx. +/- 45 °. If, in a simply bent off-axis parabolic mirror, the laser beam can not hit directly in the middle of the mirror, it is alternatively proposed to use a double-curved parabolic mirror with two curvatures. If the proposed parabolic mirrors can not be bent or bent twice for the floor surfaces to be processed, even longer CCD sensors can be used.

Preferably, the vertically and horizontally aligned CCD and LED strip elements are provided alternately. According to a preferred embodiment, the receiver unit is octagonal and thus has four horizontally aligned CCD or LED strip elements and four vertically aligned CCD or LED strip elements.

Furthermore, it is possible to provide, for example, in the opening gap, a lens element, so that this lens element in Light incident direction is arranged upstream of the horizontally oriented CCD or LED strip element. Thus, a light beam can be fed focused. Due to the longitudinal extent of the respective strip elements, the light rays can also be incident at an angle on the CCD or LED strip element, so that is ensured both in the vertically aligned CCD or LED strip elements even at different height levels that as well as obliquely incident light rays lead to measured value signals. Also in the case of the horizontally oriented CCD or LED strip elements, obliquely oriented light beams which are incident in a horizontal plane can likewise generate measured value signals.

As an alternative to a parabolic mirror, it is also possible for a lens array, in particular a cylindrical lens array, to be used from a multiplicity of lenses which are arranged next to one another. Such a lens array may be disposed in an outer wall of the receiver unit instead of the gap provided in the parabolic mirror. An element can be arranged between the lens array and the horizontally oriented CCD lines, for example in an intermediate wall in which preferably two gaps are formed. In this case, if a laser beam falls on the lens array, a vertical laser line is generated from the point laser beam. This vertical laser line hits at least one of the horizontally arranged CCD lines. The number of necessary CCD lines depends on the distance of the lens array to the CCD line and on the opening angle of the laser line generated. The proposed gap or the intended column continue to serve the large-area coverage of the CCD line, so that a laser beam depends on the angle on the CCD line. The position of the illuminated pixels makes it possible to recalculate the angle of incidence of the laser beam. Thus, the lens array produces from its incident point laser beam a vertical line illuminating the horizontal CCD lines behind it so that the incident point laser beam becomes a vertical laser line, thereby making the angle determination virtually unaffected by the height of the incident laser beam can. Since the aperture angle of the laser line produced is not very large, several CCD lines should be placed behind the lens array to provide detection over the entire height of e.g. B. 10 cm to ensure. Alternatively, this problem can be solved by increasing the distance between CCD line and lens array, but this will lead to larger mechanical dimensions of the sensor system.

It is also possible to provide a plurality of mutually spaced, horizontally aligned CCD or LED strip elements with the plurality of corresponding light detectors with each other or one above the other, to ensure that even at different height levels corresponding position signals can be effectively determined.

These signals are processed as a whole in the control device and serve to generate control signals which act on a drive device for the power lift, for example hydraulic cylinders of tillage tools such as smoothing tools, leveling blades and the like.

To further explain the invention, reference is made to further subclaims, the following description and the drawings. In the drawing show:

1a) , b), c) a riding arena during a ground level working with different height levels from a towed device as an embodiment of the device according to the invention with a dozer blade as tillage tool, rotary lasers as transmitter units and with a receiver unit mounted on the device;

2 a front view (partial) of the receiver unit;

3 a plan view of the embodiment according to 2 ;

4 schematically a plan view of a riding arena with a device and two spaced-apart rotary lasers as transmitter units;

5 a schematic of receiver unit, control unit, drive and tillage tool;

6 and 7 to the 2 and 3 analogous representations with a lens array in the outer wall of the receiver unit.

In the drawing, equivalent parts are provided with corresponding reference numerals.

In the 1 are in the 1a) . 1b) and 1c) Processing situations with different height levels 1.1 . 1.2 and 1.3 illustrated. General with 2 is a device for processing the riding arena 1 quantified. The device 2 for working the floor surface 1 is from an agricultural tractor 3 pulled and points as a tillage tool 4 a dozer blade, which is to raise and lower of power not shown in detail, as this is the different height positions of this tool 4 according to the representations of 1a) to 1c) require. With the solid line 5 is marked a uniform height level.

At the device 2 is a receiver unit 6 shown, which is a vertically aligned light detector strip 7 having. With 8th is quantified a transmitter unit, which is designed as a rotary laser and laser beams 9 sent out by the recipient 6 be received as measured value signals. As the 1a) to 1c) clarify, the laser beam hits 9 when editing in case after 1a) in which the dozer blade 4 on the floor surface 1.1 located approximately in the middle on the vertically aligned strip element 7 , Device the device 1 in a depression at 1.2 ( 1b) ) hits the laser beam 9 in the upper region of the vertically aligned strip element 7 on the local light detector, which sends this signal to the control unit 14 passes, so that there generates a control signal with the result that the power lift the tillage tool 4 left in the raised position. Device of the tractor 3 with the device 2 on a floor surface 1 with elevated ground level 1.3 ( 1c) ), the laser beam hits 9 to a light detector at the bottom of the vertically aligned light detector bar 7 , what about the control unit 14 a control signal is generated with which the tillage tool 4 in the area of the height level to be set 5 remains and thus clears soil material.

In 2 More specifically, it is a part of the receiver unit 6 shown on the device 2 is firmly mounted for tillage. This is octagonal in the illustrated embodiment and comprises a total of four vertically aligned strip elements 7 with a variety of light detectors 7.1 in the dashed example of the strip element 7 in 2 is shown again right. These light detectors 7.1 are arranged one above the other. Between two vertically aligned strip elements 7 are each horizontally aligned strip elements 10 provided, so in the embodiment according to 2 in turn, four in turn, which also have a plurality of light detectors. In the embodiment shown, the receiver 6 from an outer wall 12 be covered, which may be translucent, but also a gap 11 may have in the respective fields, where a horizontally aligned strip element 10 is arranged, through which a corresponding laser beam 9 can pass through.

In the embodiment according to 2 is behind the gap 11 in the outer wall 12 a parabolic mirror 13 provided, the laser beams 9 deflects, so that these on the horizontally aligned inguinal element 10 can occur.

This is tilted by 90 ° to an outer wall 12 Recipient 6 arranged so that the light detectors facing down in the embodiment.

3 clarifies in plan view again what in 2 is shown. In 4 is once again the riding arena 1 illustrated with two fixedly mounted rotary laser devices 8th that the laser beams 9 send out to the recipient 6 fall. The vertically aligned strip elements serve this purpose 7 for adjusting the height level and the horizontally oriented strip elements 10 for local position recognition on the riding arena 1 ,

5 illustrates again what has been explained above. The laser beams as they pass to the receiver unit 6 in the horizontally and vertically aligned strip elements 7 . 16 fall with their light detectors are via appropriate lines to a central control unit 14 passed. This evaluates the corresponding measured value signals and supplies a control signal to a drive 15 , a dozer blade 4 as a tillage tool raises or lowers.

It is also possible with this control unit, for example, such tillage tools 4 to be controlled, which are not only to raise and lower, but also, for example, can be pivoted or adjusted to a tilt position to the bottom surface.

The 6 and 7 provide analogous representations to the training of the receiver unit 6 according to the embodiment of the 2 and 3 Here are again vertically aligned light detector strips 7 available with a variety of light detectors 7.1 , Between two vertically aligned strip elements 7 are in turn horizontally aligned inguinal elements 10 provided, in the embodiment according to 6 in each case four superimposed per Lichtdekorleistenreihe, so that in total in this embodiment, sixteen horizontally oriented strip elements 10 are provided. These are again at a distance from an outer wall 12 intended ( 7 ). In this outer wall 12 is a lens array in this embodiment 16 provided, preferably a cylindrical lens array with a plurality of corresponding lens elements 16.1 , Between the cylindrical lens array 16 and the inguinal elements 10 is an element 17 arranged with corresponding columns 17.1 ,

Claims (17)

Contraption ( 2 ) for the treatment of ground surfaces, in particular for the processing of riding arenas ( 1 ), with at least one of power lifts Liftable and lowerable machining tool ( 4 ) such as a dozer blade and with at least two stationarily supported on the ground surface transmitter units for generating laser beams ( 9 ) and with one the laser beams ( 9 ) of the transmitter units ( 8th ) received as measured values, at the device ( 2 ) supported receiver unit ( 6 ) comprehensive control unit ( 14 ), through which the power lift and the floor tool ( 4 ) depending on the measured values of the receiver unit ( 6 ) are raised and lowered controlled, characterized in that the receiver unit ( 6 ) on its circumference at least two spaced apart and vertically aligned CCD or LED strip elements ( 7 ) with a plurality of light detectors ( 7.1 ) and on its circumference at least two spaced apart and horizontally aligned CCD or LED strip elements ( 10 ) comprising a plurality of juxtaposed light detectors. Apparatus according to claim 1, characterized in that a plurality of spaced apart with each other, horizontally aligned CCD or LED strip elements ( 10 ) are provided. Apparatus according to claim 1 or 2, characterized in that the vertically oriented CCD or LED strip elements ( 7 ) have a length which corresponds to a leveling requirement in the ground surface ( 1 ) while processing the floor surface ( 1 ) oriented. Device according to one of claims 1 to 3, characterized in that a horizontally oriented CCD or LED strip element ( 10 ) behind a receiver wall ( 12 ) and in the receiver wall ( 12 ) a vertically oriented opening gap ( 11 ) is provided over the laser beams ( 9 ) of the transmitter units ( 8th ) a horizontally oriented CCD or LED strip element ( 10 ) can be supplied. Apparatus according to claim 4, characterized in that the longitudinal extent of the opening gap ( 11 ) of a horizontally oriented CCD or LED strip element ( 10 ) has a longitudinal extent which corresponds to a leveling requirement to be specified in the bottom surface ( 1 ) while processing the floor surface ( 1 ) corresponds. Apparatus according to claim 4 or 5, characterized in that between the opening gap ( 11 ) and the horizontally oriented CCD or LED strip element ( 10 ) a parabolic mirror ( 13 ) is provided for deflecting laser beams. Device according to claim 6, characterized in that the parabolic mirror ( 13 ) is bent twice, that is formed with 2-fold curvature. Device according to one of claims 1 to 7, characterized in that a horizontally oriented CCD or LED strip element ( 10 ) tilted by 90 ° with its light detectors and thus to the bottom surface ( 1 ) aligned with the receiver unit ( 6 ) is provided. Device according to one of claims 5 to 7, characterized in that in the opening gap ( 11 ) of the receiver wall ( 12 ) A lens is provided. Device according to one of claims 1 to 3, characterized in that a horizontally oriented CCD or LED strip element ( 10 ) behind a receiver wall ( 12 ) is arranged and in this receiver wall ( 12 ) a lens array ( 16 ) of a plurality of juxtaposed lenses ( 16.1 ) is arranged. Apparatus according to claim 10, characterized in that a plurality of spaced apart horizontally aligned CCD or LED strip elements ( 10 ) are provided and between the lens array ( 16 ) and the CCD or LED strip elements ( 10 ) an intermediate element ( 17 ) with at least one vertically aligned gap ( 17.1 ) is arranged. Device according to claim 11, characterized in that the element ( 17 ) two spaced-apart vertically aligned column ( 17.1 ) having. Device according to one of claims 1 to 12, characterized in that the receiver unit ( 6 ) is polygonal in cross section. Device according to claim 13, characterized in that the receiver unit ( 6 ) is octagonal in cross-section. Device according to one of claims 1 to 14, characterized in that the receiver unit ( 6 ) distributed on its circumference alternately a vertically aligned CCD or LED strip element ( 7 ) and a horizontally oriented CCD or LED strip element ( 10 ) having. Device according to one of claims 1 to 15, characterized in that the receiver unit ( 6 ) four vertically aligned CCD or LED strip elements ( 7 ) and four horizontally aligned CCD or LED strip elements ( 10 ) having. Device according to one of claims 1 to 16, characterized in that two spaced apart on the bottom surface ( 1 ) supported rotary laser devices as transmitter units ( 8th ) are provided.

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