DE102016118820A1 - Self-propelled and self-steering tillage implement and method for working a floor surface - Google Patents

Abstract

The invention relates to a self-propelled and self-steering tillage implement, comprising a chassis and a housing, arranged on the housing sensor device for obstacle detection with a plurality of sensor elements and a control device coupled thereto, wherein the sensor elements comprise or form transmitting and / or receiving elements, of the sensor elements, a detection range outside the housing is defined such that the position of an obstacle located in the detection area relative to the harrow can be detected without contact, wherein upon detection of an obstacle, the sensor elements are controlled by the control device to change the detection range. Moreover, the invention relates to a method for processing a floor surface.

Description

The invention relates to a self-propelled and self-steering tillage implement, comprising a chassis and a housing, a housing arranged on the sensor device for obstacle detection with a plurality of sensor elements and a control device coupled thereto.

In addition, the invention relates to a method for processing a floor surface with such a harrow.

With a cultivator of the type mentioned, an autonomous processing of a floor surface can be performed. For this purpose, the tillage implement is moved over the ground surface, and for the processing of the tillage device comprises at least one tillage unit. For example, the harrow is designed as a floor cleaning device, such as a scrubber, sweeper or sweeper. Accordingly, the soil cultivating unit can be or comprise at least one cleaning tool that can be driven in rotation or in an oscillating manner or a dirt pick-up device for picking up detached dirt from the bottom surface.

It is known to provide sensor devices on autonomous tillage equipment that allow the tillage implement to navigate across the ground surface. For example, a travel path of the soil cultivation device can be planned and carried out on the basis of information from the sensor device. As an alternative or in addition to the planning of the route, a sensor device can be provided to avoid collisions of the soil cultivation device with obstacles. This is of particular importance when an obstacle not known to the cultivator is located in the track, without its detection there is a risk of damage to the harrow and the obstacle. If the "obstacle" is a person, there is a risk of injury.

The object of the present invention is to provide a harrow and a method for processing a ground surface, in which the reliability of the harrow is increased.

This object is achieved by an inventive self-propelled and self-steering tillage device, comprising a chassis and a housing, arranged on the housing sensor device for obstacle detection with a plurality of sensor elements and a control device coupled thereto, wherein the sensor elements comprise or form transmitting and / or receiving elements , wherein from the sensor elements, a detection range outside the housing is defined such that the position of an obstacle located in the detection area relative to the harrow can be detected without contact, wherein upon detection of an obstacle, the sensor elements are controlled by the control device to change the detection range.

In the soil cultivation device according to the invention, the sensor device is provided to increase the operational safety. About the sensor elements, it is possible to detect an obstacle contact. This proves to be particularly advantageous if a tentative detection of an obstacle by mechanical sensing elements on the housing should generally be avoided or is impractical due to the size and / or construction of the soil cultivation device. Obstacles can then be detected without contact if they are located within a detection range defined by the sensor elements. The detection area can therefore also be referred to as "monitoring area". The detection area preferably covers an environment of the harrow before and / or laterally next to the harrow with respect to its longitudinal or main direction of movement, wherein also an area behind the harrow can be covered by the detection area. According to the invention, the control of the sensor elements by the control device makes it possible to change the detection range. This makes it possible to adapt the transmission characteristic and / or the reception characteristic of the sensor elements with regard to a better detection and further investigation of the obstacle. Beyond the finding that an obstacle has been detected, further information can preferably be determined, for example extent, distance, relative movement of the soil cultivation device and obstacle and / or identity of the obstacle. In a preferred embodiment, will be discussed below, the travel and / or the speed of the harrow can be changed depending on the position of the obstacle.

In the present case, an "obstacle" may be an object on, at or above the floor surface, with which the harrow can collide. The obstacle can be mobile or fixed. As an obstacle in the present case, a paragraph, a threshold, a depression or the like is considered, in whose or their loading or driving over a fall of the harrow or at least threatens the danger that this prevented from further driving is (hereinafter collectively referred to as "fall" of the harrow).

It proves to be favorable if the sensor elements can be controlled to detect the obstacle for the repeated change of the detection range. For example, the obstacle after the first change of the detection area, this is preferably possible both when driving and when standing tillage equipment, again recorded and measured, for example. Multiple adaptation of the detection area makes it possible to gather additional information about the obstacle in order to preferably identify it and make the best possible decision with regard to the path of the tillage implement.

It is advantageous if the sensor elements are controllable to change the shape and / or the size of the detection area. For example, the detection range can be varied so that it is increased in the presumed direction of the obstacle in order to better determine the size and / or the contour of the obstacle can.

For example, it can be provided that in the absence of obstacles, a detection range of predeterminable shape and / or size is present. Upon detection of an obstacle, in an advantageous embodiment, the detection range is increased in the presumed direction of the obstacle in terms of determining where the obstacle is and what it might be.

In the present case, the "direction of the suspected position of the obstacle" refers in particular to the direction under which the obstacle appears to be approximately arranged starting from the cultivator, based on the signals of the sensor device. In view of the fact that the spatial resolution of the sensor device may be limited, for example when using ultrasonic sensors, the direction from the tillage device to the obstacle may possibly only be approximately determined.

Advantageously, the sensor elements are controllable to change the achievable with the sensor device spatial resolution, at least in the direction of the presumed position of the obstacle.

Conveniently, it is provided that the achievable with the sensor device spatial resolution can be increased. The position and / or the size of the obstacle can be better determined.

It proves to be advantageous if at least a part of the sensor elements and preferably all sensor elements are individually controllable by the control device to selectively form a transmitting element, a receiving element or a transmitting and receiving element. The sensor device proves to be particularly versatile. The sensor elements can, with regard to the best possible embodiment of the detection range and thus, in particular, a best possible change in the detection range, optionally act as a transmitting element, as a receiving element or as a transmitting and receiving element. For this purpose, the sensor elements can be controlled individually by the control device.

In the case of the last-mentioned advantageous embodiment, it may be provided, for example, that relatively inexpensive sensor elements are used. The manufacturing costs can be kept low in this way with a simple structural design. For example, ultrasonic sensors are provided, which can act either as a transmitting element, as a receiving element or as a transmitting and receiving element. When used as a transmitting and receiving element in such ultrasonic sensors may have the limitation that due to a certain dead time in the detection of a near zone of the sensor element (for example, less than 20cm) can not be monitored. By suitable combination of a sensor element as a transmitting element and a further sensor element as a receiving element, such dead times can be avoided and increase the resolution of the sensor device in the vicinity.

It is particularly advantageous if the mode of action of the respective sensor elements can be changed under the control of the control device as a function of the detection of the obstacle. If an obstacle is detected, the control device can control at least one part and, for example, all sensor elements to the extent that their function is changed as a transmitting element, as a receiving element or as a transmitting and receiving element. With regard to the change of the detection range with the aim of detecting the obstacle even better, the mode of operation of the sensor elements and thus the transmission characteristic and / or reception characteristic of the sensor device can be selectively varied. The sensor device and thus the possibility of adapting the detection area prove to be particularly versatile.

In particular, it may be possible to predetermine that the transmission field of at least one transmission element and the reception field of at least one reception element at least partially overlap one another.

Send fields and / or receive fields have, for example, when using ultrasonic sensor elements, a club-shaped or conical shape.

For the above-mentioned change in the mode of operation, it is advantageous if the transmission field of at least one transmission element can be superposed with the reception field of at least one different reception element. This gives the possibility of changing the size and / or the shape and preferably the spatial resolution of the detection area.

It is advantageous if the detection area is variable with detected obstacle depending on the direction of the relative movement and / or the amount of relative speed of harrow and obstacle. Accordingly, when the obstacle is detected, the detection range can be variable depending on the direction of movement and / or the speed of the tillage implement.

The detection range can alternatively or additionally be variable depending on the travel path and / or the speed and thus be adapted to a certain extent "dynamically" to the state of motion of the soil cultivation device.

It is advantageous if the harrow comprises a storage device in which information about a space comprising the ground surface are deposited, and if the detected obstacle can be identified on the basis of the information stored in the storage device. As a result, it is possible to link already known information with the information originating from the sensor device concerning the obstacle to the soil cultivation device. The combination of both information makes it possible to identify the obstacle.

In an advantageous embodiment, the soil cultivation device can comprise a further sensor device, wherein the detected obstacle can be identified using the further sensor device. For example, the sensor device of the soil cultivation device according to the invention is an ultrasonic sensor device. The further sensor device may be, for example, an optical sensor device for optically detecting the obstacle.

The sensors are or preferably comprise ultrasound transmitters and / or ultrasound receivers, the sensor device may accordingly be an ultrasound sensor device. Such a sensor device is preferably also suitable for the detection of glass objects whose detection is problematic due to the use of optically effective sensor devices due to the transparency. Glass objects whose detection is of importance in practice in tillage equipment, for example, glass partitions, glass doors or doors with glass insert.

It is advantageous if an action range for the soil cultivation device can be determined by the control device when the obstacle is detected, with a view to avoiding a collision or a fall of the soil cultivation device. As an "action area", in the present case, in particular a free space for the movement of the soil cultivation device can be considered, taking into account its intended direction of travel, wherein the direction of movement and / or the speed can be adjusted if necessary.

As mentioned, the position of the obstacle located in the detection area relative to the harrow can be detected. It is advantageous if the distance of the harrow to the obstacle can be determined.

Preferably, the soil tillage implement, when in motion, stops when the distance is less than a minimum distance. For safety reasons, the harrow can be stopped to prevent it from being damaged or obstructed. If the "obstacle" exists in a person, personal injury can be prevented. If the obstacle in a paragraph, a threshold or a depression, a fall of the harrow can be avoided.

It is expediently provided that, when the obstacle is detected, an intended travel path taken in by the soil cultivating device for bypassing the obstacle is changed. This can be done in an advantageous embodiment, depending on the speed of the harrow and / or depending on a distance of the harrow to the obstacle. For example, the obstacle is bypassed at a constant distance, or it is driven at a constant distance along the obstacle, wherein the distance can preferably be monitored by means of the sensor device.

It can be provided in an advantageous implementation of the harrow that a change of the detection range is omitted when a direction of movement of the harrow includes an angle with a direction to the suspected position of the obstacle, which falls below a minimum amount. For example, it can be stated that the position of the obstacle relative to Tillage device is located away from the track and a collision with the obstacle or a crash in continuation of the ride is not to be feared. In this case, it can be registered that an obstacle is in the detection area and at the same time it is assessed that there is no danger of collision or danger of falling. The journey can be continued. It is conceivable that a break occurs or the journey continues without interruption. A temporary lowering of the speed can be provided.

Furthermore, it is conceivable that a change of the detection range is omitted if the amount of the speed of the harrow is less than a maximum amount. Also in this case, the presence of the obstacle in the detection area can be registered and the travel can be continued. A break can be provided.

It is advantageous if sensor elements of the sensor device are arranged in the region of a front side of the soil cultivation device, based on its longitudinal or main movement direction. Transmitting and / or receiving fields of the sensor elements are directed in particular forward, advantageously also obliquely forward.

It is advantageous if sensor elements of the sensor device are arranged in the region of a left side and a right side of the soil cultivation device, based on its longitudinal or main movement direction. Transmitting and / or receiving fields of the sensor elements are preferably directed to the side, obliquely forward and / or obliquely to the rear.

Alternatively or additionally, it is advantageous if sensor elements of the sensor device are arranged in the region of a rear side of the soil cultivation device, based on its longitudinal or main movement direction. Transmitting and / or receiving fields of the sensor elements are preferably directed to the rear, advantageously also obliquely to the rear.

It may be provided that an interrogation of the sensor elements arranged in the region of the front side of the soil cultivating device is carried out more frequently than a query of sensor elements which are arranged on the cultivator left or right. Herein, the idea flows in that a straight-line straight-ahead driving of the harrow is its usual and most frequent state of motion, which is why monitoring the area upstream of the harrow is of considerable importance.

It is advantageous if at the front and / or on the left and right side and / or on the back of sensor elements are provided at different distances to a footprint for the harrow. This gives the possibility to monitor different height ranges relative to the footprint.

In a corresponding manner, it is favorable if sensor elements with alignment at different angles relative to an installation surface for the cultivator are provided on the front side and / or on the left and right sides and / or on the rear side. Transmit and receive fields may be up or down or tilted.

The detection area may surround the cultivator in a U-shape in plan view, for example. H. laterally left and right and at the front.

In another embodiment, it can be provided that the detection area surrounds the soil cultivator in an O-shaped plan view in plan view, i. E. on the front, side left and right and on the back.

It is advantageous if the detection range is at least as high as the harrow, for example in order to avoid the risk of a collision when not placed on the ground surface, projecting obstacles.

Furthermore, it is favorable if the detection range extends down to the floor surface in order to be able to detect obstacles on the floor surface and in particular also sleepers, shoulders or depressions.

The size of the detection area starting from the housing is in an advantageous embodiment, at least 100cm, preferably at least 150cm, the size preferably laterally left and right next to the harrow, before and / or behind the harrow, based on its longitudinal or main movement direction as mentioned above amount can. In the context of the invention, it may be reserved that a proximity of the sensor elements, which may result from their physical mode of action and immediately adjacent to the housing, can not be monitored by the sensor device.

Conveniently, the height of the detection range in an advantageous embodiment, starting from a footprint for the harrow at least 50cm, preferably at least 100cm.

In an advantageous embodiment, the soil cultivation device may be a floor cleaning device. The floor cleaning device may have at least one cleaning unit for cleaning a floor surface.

The floor cleaning device is for example a scrubber, a sweeper or a sweeping machine.

It can be provided that the functionality of the soil cultivation device can be checked with regard to the function of the sensor device. For example, at least one "obstacle" may be provided as a test object whose properties, if detected with the sensor device, are known to the soil cultivation device. When the test object is detected, the functionality of the sensor elements can be checked thereby. For example, the test object can be approached by the tillage implement regularly to check the functionality.

By the possibility of checking the functionality is preferably also the ability to detect when a sensor element fails. In the case of such a determination countermeasures can be initiated, for example, a supervisor can be informed about the failure. Alternatively or additionally, it is advantageously provided that a failure of at least one sensor element can be compensated for by providing redundant information from the sensor elements. Advantageously, it is possible by suitable control of the sensor elements, as explained above, to change the mode of action of the sensor elements with regard to the compensation of the failure of the at least one sensor element.

In a method according to the invention, for solving a bottom surface, which solves the above-mentioned problem, a soil cultivation device is provided, comprising a chassis and a housing, a sensor device for obstacle detection arranged on the housing with a plurality of sensor elements and a control device coupled thereto, wherein the sensor elements transmit and / or receive elements, wherein the sensor elements, a detection area outside the housing is defined such that the position of an obstacle located in the detection area relative to the harrow is detected without contact, wherein upon detection of an obstacle, the sensor elements of the control device for changing the Detection area are controlled.

The advantages that have already been mentioned in connection with the explanation of the soil cultivation device according to the invention can also be achieved by practicing the method. In this regard, reference may be made to the above statements, also with regard to advantageous embodiments of the soil cultivating device.

Advantageous embodiments of the method result from advantageous embodiments of the soil cultivation device according to the invention.

The following description of a preferred embodiment of the invention serves in conjunction with the drawings, the detailed explanation of the invention. The tillage machine described below makes it possible to carry out an advantageous embodiment of the method according to the invention. Show it:

1 a schematic side view of a soil cultivation device according to the invention, designed as a floor cleaning device;

2 : a schematic plan view of the soil cultivation device 1 while moving over a floor surface; and

3 : a view accordingly 2 after detecting an obstacle on the floor surface.

The drawing shows one with the reference numeral 10 occupied advantageous embodiment of a harrow according to the invention, in the present case as a floor cleaning device 12 is designed. The floor cleaning device 12 is self-steering and self-propelled and allows the autonomous cleaning of a floor surface 14 that has a footprint 16 for the floor cleaning device 12 formed.

The floor cleaning device 12 includes a housing 18 , on the underside of a chassis 20 with drive wheels 22 and a castor 24 is held. A traction drive of the chassis 20 is from a controller 26 of the floor cleaning device 12 controllable, whereby a predetermined route can be driven.

Usually, the floor cleaning device 12 moved in a cleaning process in straight straight ahead, so that a main direction of movement of the longitudinal direction 28 of the floor cleaning device 12 equivalent.

For cleaning the floor surface 14 includes the floor cleaning device 12 at least one cleaning unit. In the present case is a cleaning head 30 provided with at least one rotating or oscillating drivable cleaning tool. When Another cleaning unit includes the floor cleaning device 12 a dirt pick-up device 32 for picking up detached dirt and a cleaning liquid used in the cleaning of the bottom surface 14 ,

The floor cleaning device 12 has a memory device 34 on that with the controller 26 coupled or integrated into it. In the storage device 34 are preferably information about a the floor area 14 stored space. This information includes, for example, features of the room, on the basis of which the floor cleaning device 12 in the room. Information can also be stored about obstacles, of which in the 2 and 3 two obstacles 36 . 38 are shown by way of example.

Further, in the memory device 34 Information concerning the infrastructure and the driving strategy of the floor cleaning appliance 12 stored, which is based on its movement. The route is usually chosen so that obstacles 36 . 38 avoid the risk of collision and thus the risk of damage to the floor cleaning device 12 or an obstacle 36 . 38 to avoid. As already mentioned, an "obstacle" can also be a person, so that when driving around the person or braking the floor cleaning appliance 12 a personal injury can be avoided.

As an obstacle in the sense of the present disclosure, a threshold, a shoulder, a recess or the like may also be considered, upon their or driving over or over a crash of the floor cleaning device 12 threatens or this is at least prevented from continuing. Instead of the above-mentioned collision avoidance is in this case avoiding a crash of the floor cleaning device 12 ,

The floor cleaning device 12 may be a sensor device 40 have, with the control device 26 is coupled to the navigation within the the floor area 14 to allow exhibiting space. For example, the sensor device 40 optically designed to detect characteristic features of the room and to transmit related information to the control device.

The floor cleaning device 12 includes a further sensor device to increase the reliability 42 which is present as an ultrasonic sensor device 42 designed and with the control device 26 is coupled. The sensor device 42 includes a plurality of sensor elements 44 , The sensor elements 44 are ultrasonic sensors 46 , which can each act as an ultrasonic transmitting element and as an ultrasonic receiving element. Every ultrasonic sensor 46 is with the control device 26 coupled and individually controlled by this.

The control device 26 can the ultrasonic sensors 46 individually, selectively form a transmitting element, a receiving element or a transmitting and receiving element.

In addition, the control device 26 the ultrasonic sensors 46 individually and changeably control in which order ultrasound from the ultrasonic sensors 46 is emitted. The reception of ultrasound can be synchronized with the emission so that it can be determined by which ultrasound sensor 46 the reflected on an object ultrasound has been emitted.

The ultrasonic sensors 46 are over the case 18 arranged distributed. In particular, it is provided that in the area of a front side 48 , on the left side 50 and the right side 52 of the floor cleaning device 12 each a plurality of ultrasonic sensors 46 is positioned. Also at the back 54 of the floor cleaning device 12 are ultrasonic sensors 46 arranged. This proves to be beneficial when the floor cleaning device 12 is able to drive backwards.

The ultrasonic sensors 46 can on the case 18 be arranged side by side and / or one above the other. For example, a plurality of ultrasonic sensors 46 side by side at the front 48 and / or in the transition area to the left side 50 and to the right 52 positioned. On the left side 50 and the right side 52 can be ultrasonic sensors 46 be arranged side by side and / or one above the other. The same applies to the back 54 ,

A positioning of the ultrasonic sensors 46 in a regular pattern (eg rectangular pattern or "gap") is conceivable and preferred, but not mandatory.

Every ultrasonic sensor 46 can ultrasound within a transmission field 56 which at the same time is a reception field 58 the same ultrasonic sensor 46 is. The transmission field 56 is, for example, club-shaped or cone-shaped. In 1 are schematic and exemplary send fields 56 from at the front 48 arranged ultrasonic sensors 46 shown. Furthermore, the shows 1 schematically the contour 55 of transmission fields 56 from on the left side 50 arranged ultrasonic sensors 46 at a certain distance from the housing 18 (ie edge lines of the transmission lobes), in which already a partial superposition of the adjacent transmission fields 56 is present.

The 2 and 3 show for reasons of clarity not the send fields 56 and reception fields 58 itself, but only schematically a part of the ultrasonic sensors 46 ,

Overall, the ultrasonic sensors 46 so on the case 18 positioned and controlled by the controller 26 controlled that a respective transmission field 56 a transmitting ultrasonic sensor 46 with a reception field 58 at least one further, receiving ultrasonic sensor 46 superimposed. Alternatively or additionally, it is conceivable that at least one ultrasonic sensor 46 Both sending and receiving can be operated.

It proves to be advantageous if ultrasonic sensors are controlled in such a way that the transmitting and receiving ultrasonic sensor 46 are different from each other. This makes it possible to avoid dead times due to physical limitations in transmitting and receiving ultrasound through an identical ultrasonic sensor 46 given are. Such dead times may entail the limitation that a near range of a respective transmitting and receiving ultrasonic sensor 46 can not be monitored.

For this reason, it is advantageous if, as mentioned, transmitting and receiving ultrasonic sensors 46 are different from one another to improve close-up surveillance.

The arrangement of the ultrasonic sensors 46 on the housing 18 may be such that an axis of the transmission field 56 parallel to the footprint 16 is aligned. This corresponds to that in the 1 illustrated situation for those at the front 48 , on the left side 50 and at the back 54 arranged ultrasonic sensors 46 ,

It is also conceivable that the axis of a transmission field 56 is inclined and an angle with the footprint 16 includes. The transmission field 56 represented by a dashed contour 60 for one of the ultrasonic sensors 46 , may be upwards, away from the footprint 16 , This is advantageous for ultrasonic sensors 46 the surrounding area around the floor cleaning device 12 monitor around. In a corresponding manner it can be provided that a transmission field 56 is inclined downwards. This is useful for monitoring below the floor cleaning device 12 around.

Hereinafter, referring to the schematic diagrams of FIG 2 and 3 on the functions of the floor cleaning device 12 and the inventive method received.

The of the ultrasonic sensors 46 provided send fields 56 and reception fields 58 overlap each other and define a changeable detection area 62 , which can also be called a "surveillance area". The coverage area 62 is preferably in the longitudinal direction 28 the front 48 upstream. In addition, the detection area 62 preferably left next to and to the right of the floor cleaning device 12 arranged. In the present case, the detection range extends 62 also up to behind the floor cleaning device 12 ,

In plan view, the detection area 62 for example, an approximately O-shaped shape ( 2 ). In a close range 64 around the case 18 There may be dead space due to the physical limitations of the emission and detection of ultrasound 66 to be available. The dead space 66 For example, it extends to about 10 cm outside the housing 18 , By the already mentioned superposition of transmission fields 56 and reception fields 58 different ultrasonic sensors 46 However, it is possible the dead space 66 to reduce in size as possible and thereby the resolution of the sensor device 42 to increase.

The coverage area 62 extends from the housing 18 , except for the dead space 66 For example, to about 150cm distance from the housing 18 , In height direction, relative to the footprint 16 , the height of the detection area 62 preferably at least the height of the floor cleaning device 12 and, for example, be at least about 100cm.

The sensor device 42 mainly serves to increase the operational safety of the floor cleaning device 12 , Moves the floor cleaning device 12 along the planned route or at random over the floor area 14 , it can happen that an obstacle 36 . 38 in the coverage area 62 arrives. By means of the sensor device 42 becomes the presence of the obstacle 36 and its position relative to the floor cleaning device 12 detected without contact. The control device 26 can the alleged direction to the obstacle 36 . 38 , its approximate size and approximately the distance to the obstacle 36 . 38 determine.

Depending on the result of non-contact detection of the obstacle 36 . 38 can affect the movement of the floor cleaning device 12 different by the controller 26 Be influenced. From the controller 26 In particular, an action area for the floor cleaning device 12 be determined. In this case, a free space can be determined, for the floor cleaning device 12 in relation to the intended Direction of travel is present, wherein the direction of movement and / or the speed with regard to avoiding a collision can be adjusted if necessary.

For example, it can be provided that the floor cleaning device 12 stops when the distance to the obstacle 36 . 38 is less than a minimum distance.

Furthermore, it is advantageously provided that an intended, from the floor cleaning device 12 track taken to bypass an obstacle 36 . 38 is changed. The change may in particular depend on the amount and the direction of the speed of the floor cleaning appliance 12 be.

In particular, however, it is provided that the detection area 62 under control of the ultrasonic sensors 46 by the control device 26 In view of this is changeable, additional information about the obstacle 36 . 38 to investigate. This will be explained below with reference to 3 in which a changed detection range with the reference numeral 62 ' is marked.

After detecting the obstacles 36 . 38 For example, the control device 26 find that the obstacle 38 laterally next to the left side 50 does not affect the continuation of the track. In contrast, it can be stated that in the direction of travel in front of the front 48 arranged obstacle 36 in the driveway and a collision threatens.

Under control of the ultrasonic sensors 46 becomes the detection area 62 for different design as a detection area 62 ' changed. The ultrasonic sensors can do this 46 from the controller 26 be driven to form a transmitting element, a receiving element or a transmitting or receiving element in different ways. The functioning of a respective ultrasonic sensor 46 can be changed individually.

Also, the order of emission of ultrasound by the ultrasonic sensors 46 , ie their "firing" can be advantageously adapted.

In particular, there is the possibility of the detection area 62 ' in terms of size and shape depending on the detection of the obstacle 36 . 38 to change. In the present case, the coverage area 62 ' formed so that its shape laterally to the left of the floor cleaning device 12 and the front 48 changed in order to get more information about the obstacle 36 to get. It is advantageous if, depending on a respective detection of the obstacle 36 a repeated change of the coverage area ( 62 - 62 ' - 62 '' ...) is feasible.

With the changed detection area 62 ' there is the possibility of a more precise localization of the obstacle 36 , Schematically represented by a marking 68 is also that with the sensor device 42 achievable spatial resolution in the field of coverage 62 is increased in areas to the size and / or position of the obstacle 36 better to determine.

After checking the obstacle 36 can drive the floor cleaning device 12 by bypassing the obstacle 36 be continued under change of the driveway.

Advantageously, there is the possibility of an obstacle 36 . 38 by identifying additional information about features of the space in the storage facility 34 are deposited with the information of the sensor device 42 be linked. Alternatively or in addition, an obstacle 36 . 38 using the further sensor device 40 be identified.

The adaptation of the coverage area 62 can preferably be done dynamically and in particular depending on the direction and / or the amount of speed of the floor cleaning device 12 be. This is the detection area 62 preferably in the direction of movement of the floor cleaning device 12 in size and / or shape changed to information from in the direction of the driveway arranged obstacles 36 . 38 to collect.

It is also conceivable that the size and / or the shape of the detection area 62 depending on the amount and / or the direction of the speed of the floor cleaning device 12 is. In a rather fast moving floor cleaning device 12 the detection area rushes 62 advantageously the floor cleaning device 10 more ahead than with a slow moving floor cleaner 12 ,

It is understood that the above statements in moving obstacle 36 . 38 preferably also for the relative orientation and the relative speed of the floor cleaning appliance 12 and an obstacle 36 . 38 be valid.

The present invention makes it possible to increase the reliability by using the ultrasonic sensor device 42 tactile sensors for contact-based detection of obstacles 36 . 38 on the housing 18 save. A ride basically "on collision" can be avoided. Obstacle detection and avoidance is contactless. Is the floor cleaning device of not inconsiderable size, as in this case the floor cleaning device 12 due to the configuration as a scrubbing machine, an arrangement of tactile sensors would be on the housing 18 already prove to be inappropriate due to its size. This applies in particular if a spatial resolution is to be achieved by means of tactile sensors, as is the case with the use of the multiplicity of ultrasonic sensors 46 at the sensor device 42 the case is.

In addition, there is the possibility of a comparatively inexpensive monitoring of the environment of the floor cleaning device 12 ,

LIST OF REFERENCE NUMBERS

10

 Harrow

12

 Floor cleaning device

14

 floor area

16

 footprint

18

 casing

20

 landing gear

22

 drive wheels

24

 castor

26

 control device

28

 longitudinal direction

30

 cleaning head

32

 Dirt holding device

34

 memory device

36

 obstacle

38

 obstacle

40

 sensor device

42

 sensor device

44

 sensor element

46

 ultrasonic sensor

48

 front

50

 left side

52

 right side

54

 back

55

 contour

56

 transmission field

58

 receive field

60

 contour

62

 detection range

64

 close range

66

 dead space

68

 Labelling

Claims (27)

Self-propelled and self-steering tillage implement comprising a landing gear ( 20 ) and a housing ( 18 ), one on the housing ( 18 ) arranged sensor device ( 42 ) for obstacle detection with a plurality of sensor elements ( 44 ) and a control device coupled thereto ( 26 ), wherein the sensor elements ( 44 ) Comprise or form transmit and / or receive elements, wherein of the sensor elements ( 44 ) a detection area ( 62 . 62 ' ) outside the housing ( 18 ) is definable such that the position of an obstacle located in the detection area ( 36 . 38 ) relative to the soil tillage implement ( 10 ) is detectable without contact, wherein upon detection of an obstacle ( 36 . 38 ) the sensor elements ( 44 ) from the control device ( 26 ) to change the coverage ( 62 . 62 ' ) are controllable. Soil cultivation device according to claim 1, characterized in that upon detection of the obstacle ( 36 . 38 ), the sensor elements for the repeated change of the detection area are controlled. Soil cultivation device according to claim 1 or 2, characterized in that the sensor elements ( 44 ), the shape and / or the size of the detection area ( 62 . 62 ' ) to change. Soil cultivation appliance according to one of the preceding claims, characterized in that the sensor elements ( 44 ) are controllable with the sensor device ( 42 ) to achieve the achievable spatial resolution, at least in the direction of the alleged position of the obstacle ( 36 . 38 ). Soil cultivation device according to claim 4, characterized in that with the sensor device ( 42 ) achievable spatial resolution is increasable. Soil cultivation device according to one of the preceding claims, characterized in that at least a part of the sensor elements ( 44 ) and preferably all sensor elements ( 44 ) individually from the control device ( 26 ) can be controlled to selectively form a transmitting element, a receiving element or a transmitting and receiving element. Soil cultivation device according to claim 6, characterized in that the mode of action of the respective sensor elements ( 44 ) under the control of the control device ( 26 ) depending on the detection of the obstacle ( 36 . 38 ) is changeable. Soil cultivation device according to one of the preceding claims, characterized in that it can be predetermined that the transmission field ( 56 ) at least one transmitting element and the receiving field ( 58 ) at least one receiving element overlap each other at least partially. Soil cultivation device according to claim 8 in conjunction with claim 7, characterized in that the transmission field ( 56 ) at least one transmitting element with the receiving field ( 58 ) at least a different receiving element is superimposed. Soil cultivation appliance according to one of the preceding claims, characterized in that the detection area ( 62 . 62 ' ) when the obstacle is detected ( 36 . 38 ) depending on the direction of the relative movement and / or on the amount of the relative speed of the soil cultivation device ( 10 ) and obstacle ( 36 . 38 ) is changeable. Soil cultivation appliance according to one of the preceding claims, characterized in that the detection area ( 62 . 62 ' ) depending on the travel path and / or the speed of the tillage implement ( 10 ) is changeable. Soil cultivation device according to one of the preceding claims, characterized in that the soil cultivation device ( 10 ) a memory device ( 34 ) in which information about the floor area ( 14 ) and that the detected obstacle ( 36 . 38 ) based on in the storage device ( 34 ) stored information is identifiable. Soil cultivation device according to one of the preceding claims, characterized in that the soil cultivation device ( 10 ) another sensor device ( 40 ) and that the detected obstacle ( 36 . 38 ) is identifiable using the further sensor device. Soil cultivation appliance according to one of the preceding claims, characterized in that the sensor elements ( 44 ) Ultrasonic transmitters and / or ultrasonic receivers are or include. Soil cultivation device according to one of the preceding claims, characterized in that the control device ( 26 ) when the obstacle is detected ( 36 . 38 ) an action area for the soil tillage implement ( 10 ), with a view to avoiding a collision or a fall of the soil cultivation device ( 10 ). Soil cultivation device according to one of the preceding claims, characterized in that by means of the sensor device ( 42 ) the distance of the soil cultivation device ( 10 ) to the obstacle ( 36 . 38 ) can be determined. Soil cultivation device according to claim 16, characterized in that the soil cultivation device ( 10 ) stops when the distance is less than a minimum distance. Soil cultivation device according to one of the preceding claims, characterized in that when detected obstacle ( 36 . 38 ) an intended, from the soil tillage implement ( 10 ) track used to bypass the obstacle ( 36 . 38 ) is changed. Soil cultivation appliance according to one of the preceding claims, characterized in that a change of the detection area ( 62 . 62 ' ) is omitted if a direction of movement of the soil cultivation device ( 10 ) an angle with a direction to the presumed position of the obstacle ( 36 . 38 ), which exceeds a minimum amount. Soil cultivation appliance according to one of the preceding claims, characterized in that a change of the detection area ( 62 . 62 ' ) is omitted if the speed of the soil tillage implement ( 10 ) is less than a maximum amount. Soil cultivation device according to one of the preceding claims, characterized in that sensor elements ( 44 ) of the sensor device ( 42 ), based on its longitudinal or main direction of movement ( 28 ): - in the area of a front side ( 48 ) of the soil cultivation device ( 10 ) are arranged; - in the area of a left side ( 50 ) and a right-hand side ( 52 ) of the soil cultivation device ( 10 ) are arranged; and / or - in the area of a rear side ( 54 ) of the soil cultivation device ( 10 ) are arranged. Soil cultivation device according to claim 21, characterized in that on the front ( 48 ) and / or on the left and right side ( 50 . 52 ) and / or on the back ( 54 ) Sensor elements ( 44 ) with different distances to a footprint ( 16 ) for the soil tillage implement ( 10 ) are provided. Soil cultivation device according to claim 21 or 22, characterized in that on the front ( 48 ) and / or on the left and right side ( 50 . 52 ) and / or on the back ( 54 ) Sensor elements ( 44 ) with orientation at different angles relative to a footprint ( 16 ) for the soil tillage implement ( 10 ) are provided. Soil cultivation appliance according to one of the preceding claims, characterized in that the size of the detection area ( 62 . 62 ' ) is at least 100 cm starting from the housing, preferably at least 150 cm, preferably laterally to the left and to the right of the harrow ( 10 ) and / or before the soil tillage implement ( 10 ), based on its longitudinal or main direction of movement ( 28 ). Soil cultivation device according to one of the preceding claims, characterized in that the height of the detection area ( 62 . 62 ' ) starting from a footprint ( 16 ) for the soil tillage implement ( 10 ) is at least 50cm, preferably at least 100cm. Soil cultivation device according to one of the preceding claims, characterized in that the soil cultivation device ( 10 ) a floor cleaning device ( 12 ), such as a scrubber, sweeper or sweeper. A method for processing a ground surface with a harrow, comprising a chassis and a housing, arranged on the housing sensor device for obstacle detection with a plurality of sensor elements and a control device coupled thereto, wherein the sensor elements comprise or form transmitting and / or receiving elements, of the sensor elements, a detection area outside the housing is defined such that the position of an obstacle located in the detection area is detected contactless relative to the soil cultivation device, wherein upon detection of an obstacle, the sensor elements are controlled by the control device to change the detection range.

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