EP3800292A1 - Autonomous and self-propelled area planner - Google Patents

Abstract

The invention relates to a self-propelled device for the autonomous straightening of a surface with loose ground, the use of the device for straightening surfaces with loose ground. The invention also includes methods in which the loose subsurface of a surface is autonomously straightened with the self-propelled device.

Description

The invention relates to an autonomous and self-driving area planner which is used to straighten areas with loose ground, for example sports and / or leisure areas.

It is known from the prior art that the machine must be operated by at least one vehicle driver in order to level or level floor areas with loose or icy subsoil.

An ice resurfacing machine (also ice machine or ice planer) is a vehicle that is used on artificial ice rinks to smooth the ice surface after ice skating or after the thirds of ice hockey. An ice machine is usually a rectangular vehicle on four wheels that is driven by a motor. At the rear of the ice machine there is a slide in which a sharp knife is inserted across the entire width, which planes off the top layer of the ice. A screw shaft transports the snow to the center, where it is transported upwards into the snow tank by another screw shaft or a conveyor belt. The snow tank can be tipped like a dump truck for unloading or it is emptied by opening the snow tank lid via an inclined chute. Washing water is applied to the ice behind the knife in order to dissolve remaining powder snow and to wash out deep furrows, so that they can then be filled with warm water without air entrapment. After the washing process, the remaining washing water is drawn off a rubber lip and sucked off using suction nozzles. The washing water is filtered in the device and reused. There is a hot water tank under the snow tank. The warm water is applied to the ice behind the sledge as the last step of processing and distributed with a wipe to even out small unevenness in the ice and give the surface a new shine. The heat below thaws the ice a little, so that the new layer of ice freezes together with the old ice. Under or next to the machine there is often a swiveling and rotating broom with which the ice surface in the area of the board and the lower part of the board itself is cleared of loose snow and ice. Because the edge of the ice surface cannot be reached by the machine, the ice there becomes thicker over time. Around the edges too To keep it smooth, either an additional ice cutter is used (roughly like a lawnmower), or the ice machine has a swiveling additional knife that extends to the edge. Motors are used for the drive. As a rule, the wheels are driven by four-wheel drive. An ice resurfacing machine is controlled by a driver. The entire ice surface can be completely smoothed in one operation.

Furthermore, self-propelled robotic lawn mowers (including robotic lawn mowers) for the fully automatic mowing of lawns are known in the prior art. A robotic lawnmower is a service robot that can automatically mow lawns. Robotic lawn mowers are not remotely controlled, but mow the specified area independently. You work autonomously. The robotic lawnmowers are increasingly equipped with complex sensors that can charge themselves. This means that human interaction is usually no longer necessary after setting up the robotic lawnmower. It is mostly driven by two separately motorized and controllable wheels that are responsible for driving and steering. The wheels are not actually steerable; Steering is only done via different rotational speeds of the drive wheels. In extreme cases (one wheel turns forwards, the other backwards), robotic lawnmowers can turn on the spot. Another pair of running wheels, less loaded and with a smaller track width, also (passive) swivel castors - on some models only a centrally mounted ball wheel - supports the robotic lawnmower at the front or rear. The lawn to be mowed is usually surrounded by a wire loop, the so-called boundary wire. A signal is located on this loop, which sensors in the robotic lawnmower pick up and recognize when they approach the wire. This allows the robotic lawnmower to turn before it drives over the wire and thus remains in a clearly defined area of the lawn. In this area, the robotic lawnmower moves back and forth more or less in a disorderly manner.

Accordingly, if the robotic lawnmower drives once, not the entire lawn area is cut, but only part of the area. A uniform short lawn area is only obtained with regular daily operation, because the robotic lawnmower then randomly mows all partial areas of the lawn within a certain time. When using robotic lawnmowers, the lawn must not have any major bumps or slopes and must be free of objects.

Robotic lawnmowers are not suitable for straightening areas that are not covered by lawn or other flora, such as sand, gravel or ice.

Sports and leisure areas often have a loose surface such as sand, pebbles, gravel, sawdust, ash or the like. After use, a loose surface shows many unevenness such as depressions and elevations, which differ in their shape, depth and distribution over the entire surface. For example, a riding arena with sand as a loose surface, which has a lot of bumps after a riding lesson. In addition, the surface of sports and leisure areas such as the surface of a riding arena in a riding hall must be regularly and completely straightened. There is therefore a need to be able to autonomously and completely straighten corresponding sports and leisure areas after use.

This object is achieved by the device according to the invention. The device according to the invention is also referred to as an area planner. The area planner according to the invention straightens the loose ground on sports and leisure areas autonomously and self-driving. The device autonomously straightens the height of the loose ground on a surface. The device moves independently over the loose ground on the surface. The device therefore comprises means for autonomous driving on an area with loose ground and means for autonomous straightening of bumps in the loose ground. The device according to the invention is used for the autonomous straightening of areas with loose ground, in particular for the autonomous straightening of sand areas in riding facilities.

The inventive device for the autonomous straightening of a surface with loose ground comprises a frame with at least two wheels, preferably at least three wheels, particularly preferably at least four wheels, a motor for driving the frame and a control for the motor, a dozer blade, at least one hitch for the dozer blade with a means for automatic height adjustment for the dozer blade, a control with a means for presetting a defined height (target height) for the dozer blade and a means for controlling the height adjustment for the dozer blade, a height sensor for determining the actual height of the loose ground every point of the surface.

1. a) ein Gestell mit mindestens zwei Rädern, vorzugsweise mindestens drei Rädern, besonders bevorzugt mindestens vier Rädern, einen Motor zum Antrieb des Gestells und einer Steuerung für den Motor, ein Planierschild, mindestens einer Anhängevorrichtung für das Planierschild mit einem Mittel zur automatischen Höhenverstellung für das Planierschild, einer Steuerung mit einem Mittel zur Voreinstellung einer definierten Höhe (Sollhöhe) für das Planierschild und einem Mittel zur Steuerung der Höhenverstellung für das Planierschild, einen Höhensensor zur Bestimmung der tatsächlichen Höhe des losen Untergrundes an jeder Stelle der Fläche und
2. b) einen Nivellierlaser zur Bestimmung der tatsächlichen Höhe des losen Untergrundes an jeder Stelle der Fläche.

In particularly preferred embodiments of the invention, the device according to the invention comprises the autonomous straightening of a surface with a loose ground

1. a) a frame with at least two wheels, preferably at least three wheels, particularly preferably at least four wheels, a motor to drive the frame and a control for the motor, a dozer blade, at least one hitch for the dozer blade with a means for automatic height adjustment for the Dozer blade, a control with a means for presetting a defined height (target height) for the dozer blade and a means for controlling the height adjustment for the dozer blade, a height sensor to determine the actual height of the loose ground at each point of the area and
2. b) a leveling laser to determine the actual height of the loose ground at every point on the surface.

With the height sensor and the leveling laser, the height of the loose ground can be determined at any point on the surface. To straighten a surface with loose ground, the height of the loose ground is determined at each point of the surface by means of the height sensor and the leveling laser, while the device moves over the surface.

1. a) ein Gestell mit mindestens zwei Rädern, einen Motor zum Antrieb des Gestells und einer Steuerung für den Motor, einen Höhensensor zur Bestimmung der tatsächlichen Höhe des losen Untergrundes an jeder Stelle der Fläche, ein Planierschild, mindestens einer Anhängevorrichtung für das Planierschild mit einem Mittel zur automatischen Höhenverstellung für das Planierschild, einer Steuerung mit einem Mittel zur Voreinstellung einer definierten Höhe für das Planierschild und einem Mittel zur Steuerung der automatischen Höhenverstellung für das Planierschild,
2. b) einen Nivellierlaser zur Bestimmung der tatsächlichen Höhe des losen Untergrundes an jeder Stelle der Fläche
   dadurch gekennzeichnet, dass während der Durchführung des Verfahrens zur Begradigung einer Fläche mit losem Untergrund, kontinuierlich die Höhe des Untergrundes an jeder durchfahrenen Stelle der Fläche mit dem Nivellierlaser und dem Höhensensor bestimmt wird, die bestimmte Höhe mit der voreingestellten definierten Höhe (Sollhöhe) verglichen wird und sofern eine Differenz zwischen definierter Höhe (Sollhöhe) und bestimmter Höhe festgestellt wird, die Steuerungseinheit automatisch die Höheverstellung des Planierschildes reguliert, um die Differenz der Höhe auszugleichen. In besonderen Ausführungsformen umfasst die Vorrichtung mehr als ein Planierschild

In particular embodiments, the device according to the invention comprises for the autonomous straightening of a surface with loose ground

1. a) a frame with at least two wheels, a motor to drive the frame and a control for the motor, a height sensor to determine the actual height of the loose ground at each point of the surface, a dozer blade, at least one hitch for the dozer blade with a means for automatic height adjustment for the dozer blade, a control with a means for presetting a defined height for the dozer blade and a means for controlling the automatic height adjustment for the dozer blade,
2. b) a leveling laser to determine the actual height of the loose ground at every point on the surface
   characterized in that while the method for straightening an area with loose subsoil is being carried out, the height of the subsurface is continuously determined at each point of the area passed through with the leveling laser and the height sensor, the specific height is compared with the preset defined height (target height) and if a difference between the defined height (target height) and a specific height is determined, the control unit automatically regulates the height adjustment of the dozer blade in order to compensate for the difference in height. In particular embodiments, the device comprises more than one dozer blade

According to the invention, a loose substrate comprises, for example, sand, gravel, ash, sand-textile mixtures, textile flakes, shavings, linseed straw, topsoil, rubber flakes or a mixture of the materials mentioned. The material of the loose subsurface is also referred to as material A. The area to be straightened can be completely or partially covered with the loose substrate. The loose substrate is usually unevenly distributed over the surface. While there are large amounts of loose ground in some places, which can be seen, for example, through elevations, the surface has depressions in other places where there is little loose ground. The uneven distribution of the loose ground on the surface is usually caused by the use of the surface, for example the running of horses on a riding arena with loose ground such as sand. The material A of the loose subsurface must therefore be evenly distributed again on a regular basis.

The device according to the invention is characterized in that the device drives autonomously over a surface with a loose surface and thereby compensates for unevenness such as depressions or elevations in the surface.

The device comprises at least one motor for autonomously driving the device. Depending on the design, the device is driven, for example, by an internal combustion engine or an electric motor, which is powered by batteries, for example. If surfaces outside are to be straightened, they can also be driven by solar cells.

The device comprises several wheels. Preferably at least one wheel is a drive wheel. The wheels of the device can comprise one or more drive wheels. If several drive wheels are included, these can preferably be controlled separately. For example, the device comprises one or two drive wheels which are arranged at the rear in the direction of travel. In this embodiment of the device, the drive wheels and the Front wheels are controlled separately so that curves can be driven and the device can turn. In a particular embodiment, the device comprises a frame which travels on three or, depending on the design, four driven wheels. The wheels have a size adapted to the ground. The person skilled in the art is familiar with suitable wheels for the respective ground. In preferred embodiments of the invention the wheels comprise tires. Suitable tires for the wheels for the respective surface are known to the person skilled in the art. For example, thick or thin tires can be used. Thick tires are used, for example, on loose sand surfaces, for example on beaches or in a riding arena. If thin tires were used with sand, the device would sink into the sand. If the loose surface is ashes, for example on a tennis court, comparatively thinner tires can be used on the wheels. The loose ground on ash pitches is firmer, so that the device does not sink in as easily as it does on clay pitches. In preferred embodiments, the tires have a lug profile. The lug profile of the tires ensures that the driving force can be better transferred to the ground, i.e. without a lug profile. At least one wheel is preferably steered (for example in the three-wheel version).

1. 1. Antrieb durch zwei Räder, die auf einer Achse angeordnet sind. Eine weitere Achse ist mit gelenkten Rädern ausgestattet.
2. 2. Antrieb aller Räder und alle Achsen können gelenkt werden. Somit wird eine bessere Wenigkeit erzielt. Der Antrieb kann über einen Keilriemen, Zahnriemen, über Kardanwelle oder über einen Hydraulikmotor erfolgen.
3. 3. Antrieb über Kettentrieb. Dabei befinden sich rechts und links von der Vorrichtung Ketten, wie z.B. bei einem Kettenbagger oder einer Planierraupe. Durch unterschiedliche Antriebsgeschwindigkeiten der Ketten, kann eine Drehung der Vorrichtung erreicht werden.

In order to enable the device to be maneuverable, it can be driven in various embodiments.

1. 1. Drive by two wheels, which are arranged on an axle. Another axle is equipped with steered wheels.
2. 2. Drive of all wheels and all axles can be steered. A better ore is thus achieved. It can be driven by a V-belt, toothed belt, cardan shaft or a hydraulic motor.
3. 3. Drive via chain drive. There are chains to the right and left of the device, as is the case with a crawler excavator or a bulldozer. Rotation of the device can be achieved by different drive speeds of the chains.

At least one wheel of the device is preferably a steering wheel. In preferred embodiments, the device comprises at least one further wheel, preferably at least two further wheels, in addition to the drive wheel and the steering wheel.

The device also includes a controller for the autonomous drive. The control for the autonomous drive includes, for example, the control of the motor, the control of the drive wheel, the control of the steering wheel, the control of the route, the control of the respective direction of travel of the device. The wheels are controlled via the control and the route of the journey is specified. Corresponding controls are known to the person skilled in the art. A control is preferably selected in which the entire area is covered by the device in a certain time. For example, the time in which the entire area is covered by the device can be set. A route is preferably selected or calculated automatically or manually so that the device covers the entire area in the set time. The device drives, for example, as in FIG Fig. 7 represented over a surface.

The device according to the invention measures the height of the loose ground at every point on the surface. For this purpose, the actual height is determined at every point on the area with loose ground with the height sensor and the leveling laser. For this purpose, the leveling laser is arranged, for example, on the edge of the surface, while the device with the height sensor moves over the surface. In the control there is a means for presetting a defined height of the area with loose ground. This defined height is the target height that the loose subsurface should have at every point on the surface. A height-controlled dozer blade ensures that excess material (e.g. sand, gravel, dirt or similar loose ground) is moved. A previously defined and programmed height can be adhered to. If the device drives through a bump in the ground or a depression, the height control automatically adjusts and ensures that the dozer blade still maintains an exact room height. The height control preferably comprises at least two spindles in order to keep the dozer blade in height both on the right and on the left.

The dozer blade is preferably designed with a curvature in the direction of travel. This ensures that as much material as possible can collect in front of the sign in order to dispense material in areas with depressions. If the load becomes too great because too much material has been accumulated, an evasive height (height correction) is approached. A previously defined height correction above the target value, which is held until the load is less. It can happen that a part of the area is compared to the target value even after straightening the Is too high or too low compared to the target height. This part of the area can be leveled to the target height the next time it is driven over.

In preferred embodiments, a leveling laser is located in the field of view of the device to detect and precisely control the height. Using the signal from the leveling laser, the device records the current height via an optical receiver (height sensor). The device can comprise one or more leveling lasers. Corresponding leveling lasers are known to the person skilled in the art. In special embodiments, the entire surface to be straightened with a loose base is surrounded by a leveling laser or leveling lasers are arranged at certain intervals around the surface. The leveling laser can also be arranged in the middle or another central point of the surface. The leveling laser is preferably arranged in such a way that an interaction with the height sensor of the device is possible at any point on the surface.

Depressions in the area with loose ground have a lower height than the nominal height. Depressions are filled by the device with loose ground up to the target height, so that a flat surface is created. For this purpose, excess loose ground is brought into the depressions with the dozer blade while the device moves over the surface.

Elevations in the area with loose ground have a greater height than the nominal height. The loose subsurface of the elevations is removed by the device up to the desired height, so that a flat surface is created. For this purpose, excess loose ground is removed from the elevations with the leveling blade and brought into the depressions while the device moves over the surface. As a result, the material A of the loose ground, which is excess in some places and which is missing in other places, is evenly distributed over the surface by means of the dozer blade. The surface is leveled by the dozer blade at the same time as the device drives over the surface. In preferred embodiments of the device, the dozer blade has a curvature in the direction of travel. The straightening of a surface with loose ground by means of the device is schematically shown in Fig. 8 shown.

The device drives autonomously over the area with loose ground. The device continuously measures the height of the loose subsurface at every point on the surface that is passed through. By means of the height sensor of the device and the leveling laser located at the edge of the surface, the actual height of the loose ground is measured at every point on the surface certain (certain height). The certain height is compared with the preset defined height (target height) and if a difference between the defined height (target height) and a certain height is determined at one point on the ground, the control automatically regulates the height of the dozer blade in order to compensate for the difference between certain height and Compensate for target height. According to the invention, this is referred to as automatic height adjustment and the control system as control of the automatic height adjustment.

In preferred embodiments of the device, the automatic height adjustment comprises at least two spindles. The dozer blade is on the first hitch (hitch one). The first hitch is connected to the frame. The spindles can be used to set the height of the dozer blade above the surface with loose ground using the automatic height adjustment. The automatic height adjustment is preferably part of the control of the device. In a preferred embodiment, the controller also includes the controller for the autonomous drive.

The route for driving the device over the area can be selected on the basis of various criteria. For example, data from previous straightening of the area can be collected and the route for the following journey can be determined on the basis of the data or the evaluation of the data. The data evaluation and the determination of the route can take place, for example, using artificial intelligence (AI).

In preferred embodiments of the device, the frame comprises a second hitch (two hitch). A harrow can be attached to the second hitch. In preferred embodiments of the device, the device comprises a harrow. The harrow can be used to collect material B from the area with loose ground, which is not material A of the loose ground.

The material B is preferably material that soils the use of the area with loose ground or interferes with the planned use. The material B is, for example, garbage, horse droppings, stones, wood, foreign bodies, rubbish. The material B is preferably collected, removed, screened and / or separated from the surface at the same time as the leveling and leveling of the loose subsurface. On in this way, any loose ground such as sand, any rubbish, horse droppings, stones, wood, foreign bodies and / or rubbish is removed.

The device according to the invention is used for distributing material A of the loose ground and for leveling areas with loose ground. The device according to the invention is used to remove other materials (material B), such as garbage, horse droppings, stones, wood, foreign bodies or rubbish.

In preferred embodiments of the device, the frame comprises a second attachment device (attachment device two) with a means for automatic height adjustment for the harrow. The second coupling device preferably also comprises at least two spindles as means for automatic height adjustment. The dozer blade and harrow are attachments. Further attachments are possible on the device.

The height of the attachments is regulated, for example, by means of spindles. The frame can comprise further hitching devices for further attachments. The height adjustment takes place, for example, as follows: One or more, preferably two spindles is / are fixedly mounted on the frame of the device. The height of the towing device for an attachment can be adjusted with millimeter precision using the spindle (s). The height is adjusted automatically by means of the control. For example, the trailer hitch is equipped with sensors that measure the speed and thus regulate the height adjustment.

The device comprises a dozer blade as an attachment. The dozer blade is used to level the loose subsoil of the area.

The dozer blade can be designed in various forms. The degree of curvature and the angle of attack can vary depending on the application. The weight of the material of the loose subsurface can play a role. In the case of light material, the angle of curvature can be selected, for example, so that more material can be pushed.

In addition to the dozer blade, the device can comprise one or more additional attachments. Examples are in the Figures 1a to 6 shown. The specialist can select appropriate attachments as required. Attachments are preferably attached using additional hitching devices. In addition, parts of the attachments can be connected to the device in a different manner.

In order to achieve a better quality of the leveled area, a harrow can be mounted behind the dozer blade in the direction of travel. This curry comb, made of several spring bars, also smooths the soil surface and creates a visually even surface appearance.

In preferred embodiments, the device comprises a harrow as an attachment. A harrow is a device for loosening the soil, for example a tine harrow or a harrow. The harrow comprises, for example, a straight bar from which several curved bars extend. The harrow comprises, for example, a straight board from which several curved bars extend. Preferably, individual curved bars extend at right angles from the straight bar or the straight board. The straight bar or board is called the spar. The bent rods are called prongs. The individual prongs are spaced apart. Preferably the prongs are the same length. The harrow has the shape of a rake, for example. The harrow comprises, for example, at least one, preferably at least two handles for attachment to a hitching device of the frame. In other embodiments, the harrow has, for example, the shape of a rake with at least one handle, a rod attached transversely thereto, the spar and several short extensions, the prongs. The head of the harrow includes the handle and the tines. The head of the harrow is made of metal, wood or plastic, for example. The harrow is suitable for leveling loose earth, sand, gravel and other soft soils, for sweeping up leaves or horse droppings, for example. For example, the harrow is fan-shaped. For example, the spar of the harrow is designed to be adjustable in width. The prongs are preferably not rigid, but rather elastically deformable or resilient. In a preferred embodiment of the harrow, the prongs are of the same length. The designs of the harrows can vary for the different areas of application. There can be longer Strigels on light material and shorter, thicker tines on hard ground. In a particular embodiment, the harrow is a harrow. In a further particular embodiment, the harrow is a tine harrow. Depending on the planned area of use or the nature of the area to be leveled with loose subsoil, the specialist will select a suitable harrow.

In particularly preferred embodiments of the device, one harrow can be exchanged for another harrow. The device according to the invention comprises preferably at least one harrow. In other embodiments, the device comprises two harrows. In further embodiments, the area planner comprises three or more harrows as attachments.

The device according to the invention can comprise further attachments.

For example, the device according to the invention can be an attachment for applying moisture or liquid to the leveled surface. In this embodiment, the device preferably comprises a moisture sensor. The moisture content of the loose substrate is measured with the moisture sensor. Liquids, such as water, can be applied to the surface via nozzles and a liquid container, which is attached to the device, for example. The liquid container can be refilled automatically at the base station of the device. As a liquid, for example water, antifreeze, disinfectant, etc. or a mixture of these liquids can be applied to the surface of the area with a loose substrate. An example of a corresponding embodiment of the invention is shown in FIG Fig. 4 shown. An embodiment of the device according to the invention with an attachment for applying liquids can comprise one or more water lines, liquid nozzles, a liquid container and a liquid pump. An embodiment of the device according to the invention with an attachment for applying liquids can include tank ventilation, level measurement, one or more water lines, liquid nozzles, at least one filling connection (e.g. automatic filling connection), a liquid container and a liquid pump.

The device according to the invention can comprise an attachment for collecting rubbish, rubbish, horse droppings, stones, etc. For example, the device with an attachment for collecting, in addition to the task of leveling, can collect material B from material A of the loose ground on the surface. A harrow, for example, is suitable as an attachment for collecting. As an alternative or in addition to a harrow, the device can comprise a rotating shaft and possibly a collecting container as an attachment. A rotating shaft can collect foreign bodies such as material B from the surface while the device moves over the area with loose ground made of material A. The foreign bodies or material B are preferably removed from the rotating shaft in a collecting container mounted on the device. The collection container can be emptied automatically at the base station. A corresponding embodiment of the invention is suitable, for example, for straightening and cleaning areas with loose ground in riding arenas, paddocks, on beaches, pastures, etc. An embodiment of the device according to the invention with an attachment for collecting is characterized in that the frame comprises a collecting container, a conveyor belt and a collecting roller (preferably rotating). An embodiment of the device according to the invention with an attachment for collecting is characterized in that the frame comprises a collecting container, a conveyor belt, a collecting channel, a rotating collecting roller and prongs.

The device according to the invention can comprise one or more hitching devices, so it is possible to use different shapes and types of attachments. The attachment device (s) preferably comprises at least one, particularly preferably at least two, coils in order to attach a corresponding attachment for processing the loose ground on the surface of the device. Each trailer hitch can be provided with an integrated height adjuster, which can be raised and lowered automatically or in a predefined manner. This has the advantage that the attachments can be attached to the towing device without much effort and thereby attached to the device. In this way, an area with loose ground can be worked on in a variety of ways.

The device according to the invention is preferably equipped with various sensors,
For example, shock sensors, distance sensors, tilt sensors, weather sensors, induction sensors, overload sensors, humidity sensors, optical sensors, speed sensors. The device can be controlled by evaluating the measurements from the sensors. Depending on the area of application, the equipment of the device with sensors and attachments can be adapted by a specialist. The device preferably comprises software for evaluating the measured values and including the measurement results in the control for the autonomous drive of the device. The device preferably comprises software for evaluating the measured values and including the measurement results in the control for the automatic height adjustment.

The device may comprise one or more shock sensors to detect obstacles and boundaries, e.g. of riding arenas. The device preferably comprises one or more shock sensors as a safety device in order to prevent damage to the device and devices, obstacles and people.

The device can comprise one or more distance sensors. The device preferably comprises one or more distance sensors for the early detection of obstacles, for maintaining distances, for carrying out various work and driving cycles.

The device can comprise one or more tilt sensors. The device preferably comprises one or more tilt sensors for maintaining a horizontal position of the device and / or the attachments and / or for regulating, for example, preset angles of inclination of a programmed surface or height profile.

The device can comprise one or more weather sensors. The device preferably comprises one or more weather sensors in order, for example, to be able to independently decide on open spaces such as beaches whether processing is possible due to, for example, strong winds, heavy rain showers, frost, etc.

The device can comprise one or more induction sensors. The device preferably comprises one or more induction sensors, for example in order to detect the wire which is worked into the bottom of the surface to be straightened and delimits the surface to be straightened.

The device can comprise one or more overload sensors. The device preferably comprises one or more overload sensors for measuring and detecting, for example, too much material in front of the attached implement.

The device can include one or more moisture sensors. The device preferably comprises one or more moisture sensors for measuring the moisture content of the material to be leveled in the loose ground and / or in order to apply a regulated amount of liquid to the surface.

The device can comprise one or more optical sensors. The device preferably comprises one or more optical sensors for recognizing contour lines Laser beam projection and / or for recognizing contour lines at the base station. In particular, the device comprises height sensors for comparison with the leveling laser or for determining the actual and target height.

The device can comprise one or more speed sensors. The device preferably comprises one or more speed sensors for regulating speeds of the drive axles and / or for regulating attachments which work by rotating movements.

The device includes a controller. The control preferably comprises a control for the motor, a control with a means for presetting a defined height for the dozer blade and a control of the automatic height adjustment for the dozer blade. The control can comprise further controls, for example of further sensors and / or attachments. The control preferably also includes the control of the wheels and the movement of the device over the area.

The device for the autonomous drive can be controlled, for example, by defining the area to be processed by GPS, induction loops, wires in the ground and / or spatial delimitation.

The control of the device preferably includes a memory effect. For example, the control saves all the data recorded from the work cycles. It creates a virtual plan of the area to be straightened. The area plan includes, for example, jumping obstacles on riding arenas and / or parts of the area to be straightened, in which larger bumps are often present, such as the hoof beat in a riding hall, entrance areas on beaches, football goals on ash pitches, etc. Using the area plan or this data the device optimizes the processing times for the following straightening.

The control of the device is preferably programmed or comprises a data carrier with a program. The programming of the control can include the programming of the work cycles, work times, heights, height profiles, obstacles. In preferred embodiments of the device, the device learns from previous straightening of the same surface. Parts of the surface with a particularly large number of or particularly pronounced bumps are preferably driven through in order to straighten them. In particular embodiments of the device, various programs are used Includes straightening. For example, a "quick program" with which only those parts of the surface with loose ground are straightened that have a particularly large number of bumps after use. For example, the device learns from previous straightening of the same surface which part of the surface is particularly uneven after use. Alternatively, the part of the surface that is to be straightened can also be set manually. Other programs allow the entire surface to be straightened. Various other variants are possible between these two extreme variants.

The device preferably comprises a base station into which the device parks itself. Batteries can also be charged in the base station. New software can be installed via the base station. Towing devices and / or attachments can be changed in the base station. The water tank of attachments for moistening the surface of areas with loose ground can be filled at the base station. Collected material B can be deposited there.

The working area, i.e. the area to be straightened with loose ground, can be determined, for example, using the following methods:
Method 1: The device drives over a limited area independently and autonomously according to the random principle. For example, the area of the riding arena in a riding hall. If the device drives towards an obstacle or the walls of the room, for example, the device changes the direction of travel autonomously. In this way, line by line, the entire surface of the floor will be worked on. In this embodiment, the device comprises, for example, distance and / or impact sensors. This way of driving the device is based on the device changing its direction of travel when it encounters an obstacle. Randomly, the entire area is driven on with loose ground and straightened in the process. This method is particularly suitable for riding arenas.

Method 2: The device moves independently and autonomously along the outer edge of the surface to be processed. This can be achieved by digging a wire into the ground along the outer edge of the surface. The device recognizes this wire, for example through induction sensors, and changes the direction of travel. The wire should preferably lie at a depth that cannot be reached by, for example, hoof kicks. This method has the advantage that areas can be edited which are not through walls or obstacles are limited. Ideal, for example, for soccer cinder blocks, riding arenas with no borders, beaches or tennis courts.

The invention also comprises a method for producing the device according to the invention.

The invention includes the use of the device according to the invention for the automatic straightening of surfaces with loose ground. The application includes the straightening of beach volleyball fields, riding facilities, tennis courts, playgrounds. The invention includes the use of the device according to the invention for the automatic straightening of surfaces with sand, gravel, ash, sand-textile mixtures, textile flakes, shavings, linseed straw, topsoil, rubber flakes. Sports and leisure areas often consist of sand, pebbles, gravel, sawdust, ash or the like. After use, the loose surface of sand, pebbles, gravel, sawdust, ash or the like shows many bumps. For example, a riding arena with sand as a loose surface. After using the riding arena, for example a riding lesson, the sand has many bumps such as depressions and elevations that differ in their shape, depth and distribution over the entire surface. In addition, the floor of the riding arena must be regularly and completely straightened. There is therefore a need to be able to autonomously and completely straighten corresponding sports and leisure areas after use.

• a) Aufstellen des Nivellierlasers außerhalb der Fläche
• b) Einstellen einer definierten Höhe für den losen Untergrund in der Steuerung
• b) Starten der Vorrichtung
• c) gegebenenfalls Kalibrieren der Vorrichtung
• d) Starten des Planiervorgangs
• e) gegebenenfalls Regelung des Planiervorgangs.

The invention also comprises a method for straightening areas with loose ground, in particular sand areas in riding facilities, a device according to the invention being used. The process consists of the following steps

• a) Setting up the leveling laser outside the area
• b) Setting a defined height for the loose surface in the control
• b) starting the device
• c) if necessary, calibration of the device
• d) Start the grading process
• e) if necessary, regulation of the leveling process.

The subject of the invention is a method for the autonomous straightening of a surface with loose ground, characterized in that a leveling laser is set up in the viewing window of the height sensor of a device,
in a device with a frame with at least two wheels, a motor for driving the frame and a control for the motor, a height sensor for determining the actual height of the loose ground at each point of the surface, a dozer blade, at least one hitch for the dozer blade a means for automatic height adjustment for the dozer blade, a control with a means for presetting a defined height for the dozer blade and a means for controlling the automatic height adjustment for the dozer blade,
with the means for presetting a defined height for the dozer blade, a defined height is set for the loose ground on the surface to be straightened,
the engine and the control of the device are started.

After the start, the device moves independently and autonomously over the surface to be straightened, straightening the loose ground on the surface. After the start, the device moves independently and autonomously over the surface to be straightened and levels and / or moisturizes the loose ground on the surface. After the start, the device moves independently and autonomously over the area to be straightened and collects material B from the loose ground on the area. For the collection of material B and / or the moistening of the surface, the device comprises the corresponding attachments mentioned above.

The device according to the invention and the method according to the invention preferably have two main functions, namely to distribute and level the material A of the loose ground on the surface. Furthermore, if necessary, to collect, remove, sift out, separate material B such as garbage, horse droppings, stones, wood, foreign bodies, rubbish from material A.

The device can be started using various methods: For example, manual start using the start button. It can be started with a timer programmed weekdays and times as well as execution times. It can be started using a mobile phone app via an internet connection, e.g. via a WLAN connection. A working cycle is started by starting the device. A work cycle preferably includes the straightening and leveling of the loose ground over the entire area. The device is preferably calibrated before each work cycle or at the beginning of each work cycle.

The device is calibrated before each work cycle, for example, in that the device aligns itself with a reference point in the base station during each start process. This can be a reference switch. It can be a marking that is recognized by optical sensors. Or via a contour line captured by a laser beam, for example. The spindle drives are calibrated by approaching the end positions. The spindles move up, for example, until they approach a reference switch in order to set their zero point.

The leveling process is started when the device sets the defined height and drives off. Excess material A is pushed forward e.g. by the dozer blade. This material A therefore remains in areas where the ground level of the loose subsoil is too low.

The leveling process can be controlled as follows: If the device comes into an area in which there is so much loose ground material that the device cannot continue driving because of the excessive counter pressure, the control for the automatic height adjustment regulates the attachments (e.g. the dozer blade) to a higher level. When driving through this area, the device exceeds the target height until the counterpressure decreases within a manageable range. During the next trip, the device tries to distribute the loose ground over the corresponding point in such a way that the target height is reached at the corresponding point. If necessary, this process must be repeated several times if there are very large amounts of loose ground in an area.

The device can also be used to straighten and level the corners of the surface with loose ground. For this purpose, the corners are moved in and out of the device. In order to enable the straightening of corners, for example in riding arenas, the device detects corners of the room and processes them in a special work cycle. The device can be equipped with special attachments for this purpose. For example, in particular embodiments, the device can comprise two leveling blades. A dozer blade is preferably arranged in the front area of the device in the direction of travel, while the second dozer blade is arranged in the rear area of the device (rear dozer blade). The device moves forwards and parallel to one side up to the corner, backs up and then moves backwards and again in the corner offset by 90 degrees in order to pull excess material out of the corner with the rear dozer blade.

The device can carry out further work steps. These functions can be made possible by further attachments. Other attachments can be attached to the device in an analogous manner as described above. In an analogous manner, their height above the loose ground is automatically regulated if necessary. Preferably, two spindles per attachment are also used for this purpose.

Thanks to the self-propelled and height-controlled device, a defined area can be leveled without having to operate the device. Once a preset has been made, the area and height to be planned at a defined time, frequency and thoroughness are obtained. This can take place at times (e.g. at night or during breaks) when the corresponding area is not used.

The device moves continuously over the surface to be processed and pushes excess material in front of it in order to place it in areas with missing material.

Areas can be leveled autonomously without the need for a worker. This enables, especially in equestrian sports, a regular leveling of areas which are permanently stressed, for example, by use with horses and thus have bumps. Reference number frame 1 engine 2 Control (possibly including electronics and software) 3 wheel 4th drive wheel 5 Steering wheel 6th spindle 7th Trailer hitch 1 (= trailer hitch one) (= first trailer hitch) 8th Trailer hitch 2 (= trailer hitch two) (= second trailer hitch) 9 Dozer blade 10 Harrow 11 Height sensor 12th Tank ventilation 13th Level measurement 14th Water pipe 15th Liquid nozzles 16 Automatic filling connection 17th Liquid container 18th Liquid pump 19th Collection container 20th Conveyor belt 21 Collecting duct 22nd Rotating collecting roller 23 Prongs 24 Riding arena 25th Direction of travel 26th Hoofbeat 27 Excess material 28 Machining direction 29 Target height 30th Missing material 31

• FIG 1a zeigt eine erfindungsgemäße Vorrichtung mit Gestell 1, Motor 2, Steuerung 3, Rad 4, Antriebsrad 5, Steuerrad 6, Spindel 7, erster Anhängevorrichtung 8, zweiter Anhängevorrichtung 9, Planierschild 10 und Striegel 11 als Anbaugeräte, Höhensensor 12.
• FIG 1b zeigt eine erfindungsgemäße Vorrichtung mit Gestell 1, Motor 2, Steuerung 3, Rad 4, Steuerrad 6, Spindel 7, erster Anhängevorrichtung 8, zweiter Anhängevorrichtung 9, Planierschild 10 und Striegel 11 als Anbaugeräte, Höhensensor 12.
• FIG 2 zeigt die Seitenansicht der erfindungsgemäßen Vorrichtung mit Gestell 1, Motor 2, Steuerung 3, Rad 4, Antriebsrad 5, Spindel 7, erster Anhängevorrichtung 8, zweiter Anhängevorrichtung 9, Planierschild 10 und Striegel 11 als Anbaugeräte, Höhensensor 12.
• FIG 3 zeigt die erfindungsgemäße Vorrichtung in der Draufsicht (von oben) mit Gestell 1, Motor 2, Steuerung 3, Rad 4, Antriebsrad 5, Steuerrad 6, Spindel 7, Planierschild 10, Striegel 11, Höhensensor 12.
• FIG 4 zeigt eine erfindungsgemäße Vorrichtung mit Gestell 1, Motor 2, Steuerung 3, Rad 4, Antriebsrad 5, Steuerrad 6, Spindel 7, erster Anhängevorrichtung 8, zweiter Anhängevorrichtung 9, Planierschild 10, Striegel 11, Höhensensor 12, Tankbelüftung 13, Füllstandsmessung 14, Wasserleitung 15, Flüssigkeitsdüsen 16, automatischer Füllanschluss 17, Flüssigkeitsbehälter 18, Flüssigkeitspumpe 19.
• FIG 5 und FIG 6 zeigen eine erfindungsgemäße Vorrichtung mit Gestell 1, Motor 2, Steuerung 3, Rad 4, Antriebsrad 5, Steuerrad 6, Spindel 7, erster Anhängevorrichtung 8, zweiter Anhängevorrichtung 9, Planierschild 10, Sammelbehälter 20, Förderband 21, Sammelkanal 22, rotierender Sammelwalze 23, Zinken 24.
• FIG 7 zeigt eine Anwendung der erfindungsgemäßen Vorrichtung, zur Begradigung eines Reitplatzes 25. Gezeigt ist die Fahrtrichtung der erfindungsgemäßen Vorrichtung 26, wobei der Hufschlag 27 mit der Vorrichtung begradigt wird.
• FIG 8 zeigt eine Detailansicht während der Begradigung einer Fläche mit losem Untergrund, die Erhöhungen und Vertiefungen aufweist. Während die Vorrichtung sich in Fahrtrichtung fortbewegt, verschiebt die Vorrichtung überschüssiges Material 28 mit dem Planierschild 10 an Vertiefungen im losen Untergrund, d.h. Stellen, an denen Material fehlt 31. Dadurch wird in der gesamten von der Vorrichtung durchfahrenen Fläche die Sollhöhe 31 hergestellt.

In the drawings, embodiments of the device according to the invention are shown without, however, restricting the invention to these embodiments.

• FIG 1a shows a device according to the invention with frame 1, motor 2, control 3, wheel 4, drive wheel 5, steering wheel 6, spindle 7, first hitch 8, second hitch 9, dozer blade 10 and harrow 11 as attachments, height sensor 12.
• FIG 1b shows a device according to the invention with frame 1, motor 2, control 3, wheel 4, steering wheel 6, spindle 7, first hitch 8, second hitch 9, dozer blade 10 and harrow 11 as attachments, height sensor 12.
• FIG 2 shows the side view of the device according to the invention with frame 1, motor 2, control 3, wheel 4, drive wheel 5, spindle 7, first hitch 8, second hitch 9, dozer blade 10 and harrow 11 as attachments, height sensor 12.
• FIG 3 shows the device according to the invention in plan view (from above) with frame 1, motor 2, control 3, wheel 4, drive wheel 5, steering wheel 6, spindle 7, dozer blade 10, harrow 11, height sensor 12.
• FIG 4 shows a device according to the invention with frame 1, motor 2, control 3, wheel 4, drive wheel 5, steering wheel 6, spindle 7, first hitch 8, second hitch 9, dozer blade 10, harrow 11, height sensor 12, tank ventilation 13, level measurement 14, water pipe 15, liquid nozzles 16, automatic filling connection 17, liquid container 18, liquid pump 19.
• FIG 5 and FIG 6 show a device according to the invention with frame 1, motor 2, control 3, wheel 4, drive wheel 5, steering wheel 6, spindle 7, first coupling device 8, second coupling device 9, dozer blade 10, collecting container 20, conveyor belt 21, collecting channel 22, rotating collecting roller 23, Tines 24.
• FIG 7 shows an application of the device according to the invention for straightening a riding arena 25. The direction of travel of the device 26 according to the invention is shown, the hoof beat 27 being straightened with the device.
• FIG 8 shows a detailed view during the straightening of a surface with loose ground, which has elevations and depressions. While the device is moving in the direction of travel, the device pushes excess material 28 with the dozer blade 10 Depressions in the loose subsurface, ie places where material is missing 31. As a result, the desired height 31 is produced in the entire area traversed by the device.

Claims (15)

Self-propelled device for the autonomous straightening of an area with loose ground comprising
a frame (1) with at least two wheels, a motor (2) to drive the frame (1) and a control (3) for the motor, a height sensor (12) to determine the actual height of the loose ground at each point of the surface , a leveling blade (10), a first hitching device (8) for the leveling blade (10) with a means for automatic height adjustment for the leveling blade (10), a control (3) with a means for presetting a defined height for the leveling blade (10) ) and a means for controlling (3) the automatic height adjustment for the dozer blade (10). Device according to Claim 1, comprising a leveling laser for determining the actual height of the loose ground at each point on the surface. Apparatus according to claim 1 or 2 comprising a base station. Device according to one of the preceding claims, characterized in that the means for automatic height adjustment for the dozer blade (10) comprises at least two spindles (7). Device according to one of the preceding claims, characterized in that the dozer blade (10) has a curvature in the direction of travel. Device according to one of the preceding claims, comprising one or more sensors selected independently of one another from shock sensors, distance sensors, tilt sensors, weather sensors, induction sensors, overload sensors, humidity sensors, optical sensors, speed sensors. Device according to one of the preceding claims, comprising one or more attachments independently selected from attachments for applying moisture or liquid, attachments for collecting rubbish, rubbish, horse droppings, stones. Device according to one of the preceding claims, characterized in that the frame (1) comprises a harrow (11). Device according to one of the preceding claims, characterized in that the frame (1) comprises a second attachment device (9) with a means for automatic height adjustment for the harrow (11). Device according to one of the preceding claims, characterized in that the frame (1) comprises a water line (15), liquid nozzles (16), a liquid container (18) and a liquid pump (19). Device according to one of the preceding claims, characterized in that the frame (1) comprises a collecting container (20), a conveyor belt (21), and a rotating collecting roller (23). Use of a device according to one of Claims 1 to 11 for the autonomous straightening of surfaces with loose ground. Use of a device according to one of Claims 1 to 11 for the autonomous straightening of the floor of riding arenas, beach volleyball fields, riding facilities, tennis courts, playgrounds. Method for the autonomous straightening of surfaces with loose ground, characterized in that a leveling laser is set up in the viewing window of the height sensor of a self-propelled device;
the self-propelled device has a frame with at least two wheels, a motor for driving the frame and a control for the motor, a height sensor (12) for determining the actual height of the loose ground at each point of the driven surface, a dozer blade (10), a first hitch (8) for the dozer blade (10) with a means for automatic height adjustment for the dozer blade (10), a control (3) with a means for presetting a defined height for the dozer blade (10) and a means for control (3 ) the automatic height adjustment for the dozer blade (10) comprises;
with the means for presetting a defined height for the dozer blade (10), a defined height for the loose ground on the surface to be straightened is set in the device,
the engine (2) and the control (3) of the device are started. A method according to claim 14, characterized in that the controller (3) of the self-propelled device changes the direction of travel when the device approaches the boundary of the area to be straightened, the area to be straightened with loose ground being delimited by a wire and the device a Includes induction sensor that detects the area limitation.

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