WO2018065376A1

WO2018065376A1 - Self-propelled and self-steering ground working machine and method for working a ground area

Info

Publication number: WO2018065376A1
Application number: PCT/EP2017/075005
Authority: WO
Inventors: Christian Hofner; Christian Wurm; Manuel Drust; Bernhard Feuchter
Original assignee: Alfred Kärcher Gmbh & Co. Kg
Priority date: 2016-10-05
Filing date: 2017-10-02
Publication date: 2018-04-12
Also published as: DE102016118820A1

Abstract

The invention relates to a self-propelled and self-steering ground working machine, comprising a chassis (20) and housing (18), a sensor device (42), arranged on the housing (18), having a plurality of sensor elements (44) for capturing obstacles and a control device (26) coupled to said sensor elements, wherein the sensor elements (44) comprise or embody transmission and/or reception elements, wherein a capture region (62, 62') outside of the housing (18) is definable by the sensor elements (44) in such a way that the position of an obstacle (36, 38) situated in the capture region is capturable relative to the ground working machine (10) in a contactless manner, wherein, if an obstacle (36, 38) is captured, the sensor elements (44) are actuatable by the control device (26) for changing the capture region (62, 62'). Moreover, the invention relates to a method for working a ground area.

Description

SELF-LEANING AND SELF-LEVERING GROUNDING DEVICE AND METHOD FOR PROCESSING A FLOOR AREA

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 soil cultivating device is located in the track, without its detection Risk of damage to the harrow and the obstacle exists. 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 soil cultivating device in front of and / or laterally next to the cultivator with respect to its longitudinal or main direction of movement, whereby an area behind the soil cultivating device is also provided. may 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 the risk that this is prevented from further driving (hereinafter summarized as " Crash "of the soil cultivator referred to).

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 this effect, optionally a transmitting element, a receiving form 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 20 cm) 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 possible The ability to adapt the coverage area thus proves 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.

As an alternative or in addition, the detection area can be variable depending on the travel path and / or the speed and can thus be adapted to the state of motion of the soil cultivation device to a certain extent "dynamically".

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. This is the Possibility to link information already known to the cultivator with the information relating to the obstacle originating from the sensor 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. Is an advantage it thereby, if the distance of the soil cultivation device 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 determined that the position of the obstacle relative to the harrow away from the driveway 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 in 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 travel of the soil cultivation device is its usual and most frequent state of motion, which is why an overview Monitoring of the soil tillage device upstream area 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 may be provided that the detection area surrounds the soil cultivation device in an O-shaped plan view in plan view, that is to say in an O-shaped manner. 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 100 cm, preferably at least 150 cm, the size preferably laterally left and right of the harrow, before and / or behind the harrow, based on the longitudinal or main movement direction as above can be called. 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 area in an advantageous embodiment, starting from a footprint for the harrow at least 50 cm, preferably at least 100 cm.

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 finding countermeasures can be initiated For example, a supervisor may be notified of 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 closer explanation of Invention. The tillage machine described below makes it possible to carry out an advantageous embodiment of the method according to the invention. Show it :

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

Figure 2: a schematic plan view of the soil cultivation device

Figure 1 during movement over a bottom surface; and

3 shows a view corresponding to Figure 2 after the detection of an obstacle on the bottom surface.

The drawing shows an occupied by the reference numeral 10 advantageous embodiment of a soil cultivation device according to the invention, which is designed here as a floor cleaning device 12. The floor cleaning device 12 is self-steering and self-propelled and allows the autonomous cleaning of a bottom surface 14, which forms a footprint 16 for the floor cleaning device 12.

The floor cleaning device 12 comprises a housing 18, on the underside of a chassis 20 is held with drive wheels 22 and a steering roller 24. A drive of the chassis 20 is controlled by a control device 26 of the floor cleaning device 12, whereby a predetermined path can be driven.

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

For cleaning the bottom surface 14, the floor cleaning device 12 comprises at least one cleaning unit. In the present case, a cleaning head 30 with at least one rotating or oscillating drivable cleaning tool intended. As a further cleaning unit, the floor cleaning device 12 comprises a dirt collecting device 32 for picking up detached dirt as well as a cleaning liquid used in the cleaning of the bottom surface 14.

The floor cleaning device 12 has a memory device 34, which is coupled to the control device 26 or integrated in this. Information about a space having the bottom surface 14 is preferably stored in the storage device 34. This information includes, for example, features of the room, by means of which the floor cleaning device 12 can orient itself in space. Information can also be stored on obstacles, of which two obstacles 36, 38 are shown by way of example in FIGS. 2 and 3.

Furthermore, information relating to the travel path and the driving strategy of the floor cleaning device 12, which is used as a basis for its movement, are stored in the storage device 34. The route is usually chosen so that obstacles 36, 38 are avoided, in order to avoid the risk of a collision and thus the risk of damaging the floor cleaning device 12 or an obstacle 36, 38. As already mentioned, an "obstacle" can also be a person, so that injury to the person or braking of the floor cleaning appliance 12 can avoid personal injury.

As an obstacle in the sense of the present disclosure, a threshold, a paragraph, a depression or the like can be further considered in their or driving over or threatening a crash of the floor cleaning device 12 or this is at least prevented from continuing. Instead of the aforementioned collision avoidance is in this case avoiding a crash of the floor cleaning device 12th

The floor cleaning device 12 may include a sensor device 40, which is coupled to the control device 26, to navigate within the To allow the bottom surface 14 having space. For example, the sensor device 40 is optically configured to detect characteristic features of the room and to transmit relevant information to the control device.

The floor cleaning device 12 includes, to increase the reliability of a further sensor device 42, which in the present case configured as an ultrasonic sensor device 42 and is coupled to the control device 26. The sensor device 42 comprises a plurality of sensor elements 44. The sensor elements 44 are ultrasonic sensors 46, which can each act as an ultrasound transmitting element and as an ultrasound receiving element. Each ultrasonic sensor 46 is coupled to the control device 26 and individually controllable by the latter.

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

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

The ultrasonic sensors 46 are arranged distributed over the housing 18. In particular, it is provided that in each case a plurality of ultrasonic sensors 46 is positioned in the region of a front side 48, on the left side 50 and the right side 52 of the floor cleaning device 12. Also on the back 54 of the floor cleaning device 12 ultrasonic sensors 46 are arranged. This proves to be advantageous if the floor cleaning device 12 is able to drive backwards. The ultrasonic sensors 46 may be arranged on the housing 18 side by side and / or one above the other. For example, a plurality of ultrasonic sensors 46 are positioned laterally next to one another on the front side 48 and / or in the transition region to the left side 50 and to the right side 52. On the left side 50 and the right side 52 ultrasonic sensors 46 may be arranged laterally next to one another 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 absolutely necessary.

Each ultrasonic sensor 46 can emit ultrasound within a transmission field 56 which is at the same time a reception field 58 of the same ultrasound sensor 46. The transmission field 56 is, for example, club-shaped or cone-shaped. Shown schematically in FIG. 1 are transmitting fields 56 of ultrasonic sensors 46 arranged on the front side 48. 1 also shows schematically the contour 55 of transmitting fields 56 of ultrasonic sensors 46 arranged on the left side 50 at a certain distance from the housing 18 (i.e., edge lines of the transmission lobes) in which there is already a partial superimposition of the adjacent transmitting fields 56.

For reasons of clarity, FIGS. 2 and 3 do not show the transmitting fields 56 and the receiving fields 58 themselves, but only schematically a part of the ultrasonic sensors 46.

Overall, the ultrasonic sensors 46 are positioned on the housing 18 and driven by the control device 26 such that a respective transmission field 56 of a transmitting ultrasonic sensor 46 is superimposed with a reception field 58 of at least one further, receiving ultrasonic sensor 46. Alternatively or additionally, it is conceivable that at least one ultrasonic sensor 46 can be operated both transmitting and receiving. It proves to be advantageous if ultrasonic sensors are controlled in such a way that transmitting and receiving ultrasonic sensors 46 are different from each other. This provides the ability to avoid dead times due to physical limitations in transmitting and receiving ultrasound through an identical ultrasonic sensor 46. 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 each other for the purpose of improving close-range monitoring.

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

It is also conceivable that the axis of a transmitting field 56 is inclined and forms an angle with the mounting surface 16. The transmission field 56, illustrated by a dashed contour 60 for one of the ultrasonic sensors 46, may be directed upward away from the footprint 16. This is advantageously useful for ultrasonic sensors 46 which monitor the environment around the floor cleaner 12. In a corresponding manner it can be provided that a transmission field 56 is inclined downwards. This lends itself to monitoring below around the floor cleaning device 12 around.

The functions of the floor cleaning appliance 12 and the method according to the invention will be described below with reference to the schematic representations of FIGS. 2 and 3. The transmit fields 56 and receive fields 58 provided by the ultrasonic sensors 46 overlap each other and define a variable coverage area 62, which may also be referred to as a "monitor area". The detection area 62 is preferably arranged upstream in the longitudinal direction 28 of the front side 48. In addition, the detection area 62 is preferably arranged to the left of and to the right of the floor cleaning device 12. In the present case, the detection area 62 also extends beyond the floor cleaning device 12.

In plan view, the detection region 62, for example, an approximately O-shaped configuration (Figure 2). A dead space 66 may be present in a near area 64 around the housing 18 due to the physical limitations of transmitting and detecting ultrasound. The dead space 66 extends, for example, to about 10 cm outside the housing 18. Due to the above-mentioned superposition of transmission fields 56 and receiving fields 58 different ultrasonic sensors 46, however, it is possible to reduce the dead space 66 as possible and thereby the resolution of the sensor device 42nd to increase.

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

The sensor device 42 is mainly used to increase the reliability of the floor cleaning device 12. If the floor cleaning device 12 moves along the planned route or accidental drive over the bottom surface 14, it may happen that an obstacle 36, 38 enters the detection area 62. By means of the sensor device 42, the presence of the obstacle 36 and its position relative to the floor cleaning device 12 is detected without contact. The control device 26 can determine the suspected tion to the obstacle 36, 38, determine its approximate size and approximately the distance to the obstacle 36, 38.

Depending on the result of the contactless detection of the obstacle 36, 38, the movement of the floor cleaning device 12 can be influenced differently by the control device 26. In particular, an action range for the floor cleaning device 12 can be determined by the control device 26. In this case, a free space can be determined, which is available for the floor cleaning device 12 with respect to the intended direction of travel, wherein the direction of movement and / or the speed with regard to avoiding a collision can be adjusted if necessary.

For example, it may 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 track taken by the floor cleaning device 12 is changed for bypassing an obstacle 36, 38. The change may in particular be dependent on the magnitude and the direction of the speed of the floor cleaning appliance 12.

In particular, however, it is provided that the detection area 62, under the control of the ultrasonic sensors 46 by the control device 26, is variable with regard to ascertaining supplementary information about the obstacle 36, 38. This will be discussed below with reference to Figure 3, in which a modified detection range is indicated by the reference numeral 62 '.

After detecting the obstacles 36, 38, for example, the control device 26 determine that the obstacle 38 laterally next to the left side 50 is not a disadvantage for the continuation of the route. DEM opposite it can be stated that the arranged in the direction of travel in front of the front 48 obstacle 36 is in the guideway and threatens a collision.

Under the control of the ultrasonic sensors 46, the detection area 62 is changed to a different configuration as a detection area 62 '. In this case, the ultrasonic sensors 46 can be actuated by the control device 26 to form a transmitting element, a receiving element or a transmitting or receiving element in different ways. The operation of a respective ultrasonic sensor 46 can be changed individually.

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

In particular, it is possible to change the detection area 62 'in terms of size and shape depending on the detection of the obstacle 36, 38. In the present case, the detection area 62 'is formed so that its shape changes laterally to the left of the floor cleaning device 12 and the front side 48 in order to obtain more detailed information about the obstacle 36. It is advantageous if, depending on a respective detection of the obstacle 36 a repeated change of the detection range (62-62'-62 "...) is feasible.

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

After checking the obstacle 36, the ride of the floor cleaning device 12 can be continued by bypassing the obstacle 36 while changing the track. Advantageously, it is possible to identify an obstacle 36, 38 in that additional information about features of the room, which are stored in the storage device 34, are linked to the information of the sensor device 42. Alternatively or additionally, an obstacle 36, 38 can be identified using the further sensor device 40.

The adaptation of the detection area 62 can preferably be carried out dynamically and, in particular, be dependent on the direction and / or the magnitude of the speed of the floor cleaning appliance 12. In this case, the detection area 62 is preferably changed in the direction of the movement of the floor cleaning device 12 in size and / or shape in order to collect information from arranged in the direction of the roadway obstacles 36, 38.

It is also conceivable that the size and / or the shape of the detection area 62 in itself depends on the magnitude and / or the direction of the speed of the floor cleaning appliance 12. In the case of a rather rapidly moving floor cleaning appliance 12, the detection area 62 advantageously leads the floor cleaning appliance 10 ahead of the more slowly moving floor cleaning appliance 12.

It is understood that the above statements with moving obstacle 36, 38 preferably also apply to the relative orientation and the relative speed of the floor cleaning device 12 and an obstacle 36, 38.

The present invention makes it possible to save on the housing 18 tactile sensors for contact-based detection of obstacles 36, 38 on the housing 18 to increase the reliability by using the ultrasonic sensor device 42. A ride basically "on collision" can be avoided. Obstacle detection and avoidance is contactless. If 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 array of tactile sensors on the housing 18 would already due to its size as prove inappropriate. This is especially true if a spatial resolution is to be achieved by means of tactile sensors, as is the case with the use of the plurality of ultrasonic sensors 46 in the sensor device 42.

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

Reference numeral table:

10 tillage implement

12 floor cleaning device

14 floor area

16 floor space

18 housing

20 chassis

22 drive wheels

24 swivel castor

26 control device

28 longitudinal direction

30 cleaning head

32 dirt pickup device

34 storage device

36 obstacle

38 obstacle

40 sensor device

42 sensor device

44 sensor element

46 ultrasonic sensor

48 front side

50 left side

52 right side

54 back side

55 contour

56 transmission field

58 reception field

60 contour

62 detection area

64 close range

66 dead space

68 Marking

Claims

1. Self-propelled and self-steering tillage implement, comprising a chassis (20) and a housing (18), a housing (18) arranged sensor means (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 transmission and / or reception elements, wherein a detection area (62, 62 ') outside the housing (18) can be defined by the sensor elements (44) such that the position of one located in the detection area Obstacle (36, 38) relative to the harrow (10) can be detected without contact, wherein upon detection of an obstacle (36, 38), the sensor elements (44) by the control device (26) to change the detection range (62, 62 ') are controlled.

2. 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.

3. Soil cultivation device according to claim 1 or 2, characterized in that the sensor elements (44) are controllable, the shape and / or the size of the detection range (62, 62 ') to change.

4. Soil cultivation device according to one of the preceding claims, characterized in that the sensor elements (44) are controllable to change the achievable with the sensor device (42) spatial resolution, at least in the direction of the presumed position of the obstacle (36, 38).

5. Soil cultivation device according to claim 4, characterized in that with the sensor device (42) achievable spatial resolution is steigerbar.

6. 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 the sensor elements (44) individually by the control device (26) are driven to the effect, optionally a transmitting element, a receiving element or a transmitting and To form a reception element.

7. soil cultivation device according to claim 6, characterized in that the operation of the respective sensor elements (44) under control by the control device (26) depending on the detection of the obstacle (36, 38) is variable.

8. 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 at least partially overlap each other.

9. soil cultivation apparatus according to claim 8 in conjunction with claim 7, characterized in that the transmission field (56) of at least one transmitting element with the receiving field (58) of at least one different receiving element is superimposed.

10. A soil cultivation device according to one of the preceding claims, characterized in that the detection area (62, 62 ') at grasped obstacle (36, 38) depending on the direction of the relative movement and / or the amount of relative speed of harrow (10) and Obstacle (36, 38) is changeable.

11. Soil cultivation device according to one of the preceding claims, characterized in that the detection area (62, 62 ') is variable depending on the travel and / or the speed of the harrow (10).

12. A soil cultivation device according to one of the preceding claims, characterized in that the soil cultivation device (10) comprises a storage device (34) in which information about a bottom surface (14) comprising space are stored, and that the detected obstacle (36, 38) is identifiable based on the stored in the memory device (34) information.

13. Soil cultivation device according to one of the preceding claims, characterized in that the harrow (10) comprises a further sensor device (40) and that the detected obstacle (36, 38) is identifiable using the further sensor device.

14. Soil cultivation device according to one of the preceding claims, characterized in that the sensor elements (44) are or comprise ultrasound transmitters and / or ultrasound receivers.

15. Soil cultivation device according to one of the preceding claims, characterized in that from the control device (26) at grasped obstacle (36, 38) an action range for the soil cultivation device (10) can be determined, with regard to avoiding a collision or a crash the tillage implement (10).

16. Soil cultivation device according to one of the preceding claims, characterized in that by means of the sensor device (42) of the distance of the harrow (10) to the obstacle (36, 38) can be determined.

17. A soil cultivation device according to claim 16, characterized in that the harrow (10) stops when the distance is less than a minimum distance.

18. Soil cultivation device according to one of the preceding claims, characterized in that when detected obstacle (36, 38) an intended, from the cultivator (10) embarked track for bypassing the obstacle (36, 38) is changed.

A harrow according to any 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 harrow (10) forms an angle with a direction to the presumed position of the obstacle (36, 38) that exceeds a minimum amount.

20. A soil cultivation device according to one of the preceding claims, characterized in that a change of the detection range (62, 62 ') is omitted if the amount of speed of the harrow (10) is smaller than a maximum amount.

21. A soil cultivation device according to one of the preceding claims, characterized in that sensor elements (44) of the sensor device (42), based on the longitudinal or main movement direction (28): in the region of a front side (48) of the soil cultivation device (10) are arranged; in the region of a left side (50) and a right side (52) of the harrow (10) are arranged; and or in the region of a rear side (54) of the soil cultivation device (10) are arranged.

22. A soil cultivation device according to claim 21, characterized in that on the front side (48) and / or on the left and right sides (50, 52) and / or on the rear side (54) sensor elements (44) at different distances to a footprint (16) are provided for the soil cultivation device (10).

23. A soil cultivation device according to claim 21 or 22, characterized in that on the front side (48) and / or on the left and right sides (50, 52) and / or on the back (54) sensor elements (44) with alignment in different Angle relative to a footprint (16) for the harrow (10) are provided.

24. Soil cultivation device according to one of the preceding claims, characterized in that the size of the detection area (62, 62 '), starting from the housing is at least 100 cm, preferably at least 150 cm, preferably laterally to the left and right of the harrow (10) and / or in front of the cultivator (10), relative to its longitudinal or main direction of movement (28).

25. 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 harrow (10) is at least 50 cm, preferably at least 100 cm.

26. Soil cultivation device according to one of the preceding claims, characterized in that the soil cultivation device (10) is a floor cleaning device (12), for example a scrubber, sweeper or sweeping machine. 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.