WO2019162355A1

WO2019162355A1 - Floor treatment machine, more particularly floor cleaning machine

Info

Publication number: WO2019162355A1
Application number: PCT/EP2019/054269
Authority: WO
Inventors: Thomas Stangl
Original assignee: Hefter Cleantech Gmbh
Priority date: 2018-02-21
Filing date: 2019-02-21
Publication date: 2019-08-29
Also published as: DE102018103835B3

Abstract

An improved floor treatment machine, more particularly a floor cleaning machine, is distinguished, inter alia, by the following features: – a sensor (S3a, S3b) is provided at at least at one, preferably at both, laterally extendable or retractable floor work or floor treatment units (3a, 4a) and/or at floor work or floor treatment units that can be pivoted out or in (3a, 4a), – this sensor (S3, S3a, S3b; S4; S6; S11a, S11b) provided at the floor treatment units (4; 4a, 4b) and/or further sensors (S6) provided is or are embodied as step or fall sensor directed in the direction of the floor area (14), said step or fall sensor recognizing a change in the floor level if the latter lies deeper by a predeterminable or predetermined distance than the floor area (14) traversed by the floor treatment machine, and – the at least one step or fall sensor (S3a, S3b) and the associated control device are embodied in such a way that a control signal is output when a level change in relation to the traversable floor area (14) is identified, by means of which sensor the driving behavior of the floor treatment machine is modifiable or restrictable.

Description

Soil preparation machine, in particular floor cleaning machine

The invention relates to a working or floor cleaning machine according to the preamble of patent claim 1. The actual devices and components serving for floor cleaning can consist of one or, for example, two interacting bristle rollers rotating about a horizontal axis, of a circulating brush belt or For example, consist of one or more cooperating, about at least approximately vertical axes rotating plate brushes or combinations of the above facilities or the like.

In addition, self-propelled machines and cleaning devices have already become known which have corresponding sensor devices. Such sensor devices may, for example, consist of optical sensor devices using a laser beam for scanning (for example in the horizontal plane) and / or ultrasound sensors, radar sensors or the like. In particular, even today sensors based on a camera with a silicon chip could be used to evaluate the recorded image.

An improved work or floor cleaning machine compared to earlier solutions has become known, for example, from EP 1 239 762 B1. This known working or floor cleaning machine is characterized in particular by the fact that at least as a function of a turn or a pivoting pivot provided on the vehicle Actuating, working or cleaning unit, preferably in the form of a working or cleaning head, which is mitverschwenkt at least one sensor device at least relatively in the same direction. In a preferred embodiment, the pivoting process can take place in direct coupling with the angle of impact of the direction of travel or the rotation of the working or cleaning head.

By mitverschwenkenden navigation devices, a significantly larger environment area can be detected, and always geared to decision-relevant area in which a movement takes place. As a result, the number of sensor devices that are otherwise required can be reduced in terms of their number and thus also on the cost side.

According to the above-mentioned prior publication, it is provided that at least one first sensor device is provided with, for example, a laser sensor near the bottom, i. especially in fleas of the wheels or slightly above it. This can be a laser scanner which operates automatically in a hori zontal angle range and scanning the environment.

As an alternative or in addition, according to the abovementioned prepublication, at least one or preferably a plurality of higher-lying sensor devices may also be provided, which are arranged, for example, in front of the paneling of the work or floor cleaning machine. It may be a tree or columnar structure, which is coupled to the steering or pivoting device of the steering mechanism and / or the pivoting working or cleaning head. Thus, this second sensor device is mitverschwenkbar with appropriate cornering of the work or floor cleaning machine.

However, it has been shown that such thoroughly advantageous work or floor cleaning machines but not for all purposes can be used.

A household robot for automatic vacuuming of floor surfaces has become known from DE 199 16 427 B4. This household robot comprises distance or contact sensors, in which the proximity to the device defined by the range of the sensors is scanned for obstacles by the sensors. Possible new positions for the household robot are determined and stored at the boundaries of the scanning range, after which, after selection, one of the positions in the current or early ren step stored position this approached and then another scanning step is performed. In this case, the self-propelled portable robot has a movable arm on which the distance or contact sensors are mounted. These sensors thus serve to detect an obstacle, which is why they are arranged on the side facing away from the bottom surface of a suction brush.

Finally, reference should also be made to DE 10 2012 108 008 A1, which describes a self-propelled suction device and a method for operating the self-propelled suction device.

This device has an infrared reflex sensor that can serve as a crash sensor. The primary task of the infrared reflex sensor, however, is the detection of liquids on the ground.

The object of the present invention is therefore to provide an improved work or floor cleaning machine.

The object is achieved according to the invention in accordance with the features indicated in claim 1. Advantageous embodiments of the invention are specified in the subclaims.

By means of the working or floor cleaning machine according to the invention, a solution is created which allows the corresponding working or floor cleaning machine to be used without problems even in critical applications.

One of the critical applications relates, for example, to situations in which the work or floor cleaning machine is used to clean a floor surface that passes into a loading ramp. Such a loading ramp is usually located at a corresponding height above a lower lying track, the difference in height of the ramp to the track can be quite a meter and more. There is always the great risk that the corresponding working or floor cleaning machine may crash due to misconduct by the driver or even - if it is a self-propelled robot-type work or floor cleaning machine - at the edge of the ramp.

According to the invention, a number of sensors are provided for this purpose, which, above all, always check whether a continuous floor surface is present or still present, or where a continuous working or floor surface ends, for example, in the form of a ramp. According to the present invention, a control device is furthermore provided for this purpose, by means of which the corresponding sensor data of a multiplicity of sensors are evaluated.

In this case, the control device can be set up and / or programmed on the basis of the determined sensor data such that a corresponding work or floor cleaning machine can always only be moved in a predeterminable or presettable minimum distance to a ramp or ramp edge, ie only to the edge of a ramp to a minimum. A pre-set or preset or presettable safety distance is then always observed.

The sensors can be provided not only in the front or side area, but also at ground level, at the height of the chassis or significantly above. In the context of the invention, it is further provided that corresponding sensors are also attached, for example, to the laterally extendable and / or swingable floor treatment devices and can be pivoted or moved along with them. These ground processing devices can, for example, be pivoted outward beyond a ramp or ramp edge in order to be able to clean the floor area for the full width ramp. Nevertheless, it is ensured that the tillage machine preferably in the form of a floor cleaning machine despite possibly over the ramp outwardly projecting tillage device itself approaches the ramp or ramp edge only maintaining a minimum distance, which is usually smaller than the lateral Ausschwenk- or Ausfahrbreite the corresponding tillage equipment , The tillage machine according to the invention, preferably in the form of a floor cleaning machine, can be designed as a driver's seat machine or else as a self-propelled robot-like machine.

Especially in this case not only lateral, but also rearward sensor devices are then provided, which ensure that the work or floor cleaning machine can not be moved backwards, for example, by generating a cornering, that the rear wheels or at least one rearward Wheel or the front wheels in the forward direction of travel, or the at least one forward cornering wheel may be moved into the minimum distance which is imperative between the working or floor cleaning machine and the ramp or ramp edge. should or must be maintained (for the security reasons described above).

In an advantageous embodiment of the invention, the lateral sensors are mounted so that not only door or gate penetration can be determined in their width, i. can be determined near the ground, but also over the entire height of the work or floor cleaning machine. This is to ensure that side boundaries at which the work or floor cleaning machine drives past can collide with the side boundary not only near the floor, but also with any boundaries or parts of the building projecting laterally from the side boundaries into the free passage. The working or floor cleaning machine would pass through only if a minimum distance is maintained in the entire height of the work or floor cleaning machine so that the work or floor cleaning machine can pass through an appropriate passage without collision.

For the mentioned sensors themselves the most different sensors can be used.

For example, it is possible to use laser sensors, which are also referred to as laser scanners, or, for example, radars, infrared devices, ultrasound sensors, as well as cameras themselves, which can evaluate the recorded images accordingly using their own software.

The invention will be explained in more detail with reference to drawings. In detail:

FIG. 1 is a perspective view of the floor processing machine according to the invention;

FIG. 2: a side view of the invention shown in FIG

Tillage machine; FIG. 3 shows a front view of the ground processing machine according to the invention;

FIG. 4 shows a plan view of the ground-working machine according to the invention;

FIG. 5 shows a further illustration in which the soil cultivation machine according to the invention is shown in plan view including a preliminary fend indicated track is given with a ramp edge; and

FIG. 6 shows a schematic side view of the invention

Soil cultivation machine in which a lateral monitoring and protective field is indicated by dashed lines.

Exemplary embodiments of a ground-working device, in particular in the form of a floor-cleaning machine, which can be designed and used as a driver's seat machine or else as a self-propelled robot-type machine, are shown in the following figures.

The basic structure of the soil treatment device according to the invention can be taken as known, for example, from EP 0 926 976 B1.

A floor cleaning machine 1 constructed in this way has an actuating, working or cleaning unit 3, which is also referred to below as a machining head 3 for short. This processing head 3 is provided in the preceding area of the soil cultivation machine 1, namely in a distance and fleas area H 1 (as shown in FIG. 2). This processing head 3 explained in more detail below is pivotable about a vertical axis of rotation 6 (FIG. 2), namely from an adjustment according to straight ahead driving, and once to the left or once to the right in order to turn it to the left or right. to initiate or carry out to the right.

This processing head 3 comprises at least one tillage unit 4, which is preferably positioned under the front part of the tillage or floor cleaning device and can be moved out at least along a vehicle side 7 of the soil tillage or floor cleaning device laterally to a maximum extension or Ausschwenkstellung. Preferably, two such soil cultivation units 4 a and 4 b are provided, which may be the same but also designed differently, and which can preferably both swung or extended via the respective vehicle side 7 a and 7 b, namely up to a maximum extension or Ausschwenkposition. In retracted or pivoted-in position, these tillage units 4 or 4a or 4b are not or not relevant beyond the lateral boundary 9 of the tillage or floor cleaning device. The mentioned at least one or the example, at least two soil cleaning units 4a, 4b may be formed according to the known tillage equipment, for example in the form of a about a more or less vertical axis rotating brush arrangement, or for example from a rotating about a horizontal axis sweeping roller , Preferably, however, the actuating, operating or cleaning unit 3 is also constructed as described, for example, in EP 2 499 953 B1 or EP 1 239 762 B1 and in particular DE 196 38 425 C2, wherein These prior publications expressly referenced and made the content of the present application.

In particular from the last-mentioned DE 196 38 425 C2 a solution can be taken as known in which the actuating, working and / or cleaning unit 3 comprises a sweeping band deflection roller arrangement, namely by means of a drivable bristle-occupied endless strand, which rotates on at least two pulleys. In order to change the sweeping width, the sweeping belt deflection pulley arrangement with the at least two deflection rollers as a whole can be moved outwardly and inwardly, at least with one component in the lateral direction, transversely to the working direction of the soil cultivation or floor cleaning machine.

From the attached figures, in particular the perspective view of FIG. 1, the page representation of FIG. 2, the front view of FIG. 3 and the plan view of FIG. 4, the basic structure of such a tillage or floor cleaning machine can be taken, which usually two rear with side offset mutually arranged wheels 13 in the form of rear wheels 13a, 13b and at least one in the side view according to Figure 2 fragmentary visible front wheel 13c 4, wherein the front wheel 13c is arranged in a central longitudinal plane M (FIG. 4) and has an axis of rotation 6 running in the central longitudinal plane M, usually an axis running vertically or only at a small angle to produce a steering angle is rotatable left or right. The actual processing, working or cleaning unit in the form of the machining head 3 is arranged at least slightly ahead of the above-mentioned axis of rotation 6, but could also be positioned at a trailing end.

Following the actuation, working or cleaning units 4, 4a, 4b, a suction bar 10, which is generally concavely curved in the direction of travel, is provided, as a result of which dirt particles including cleaning liquid are received on the floor or the bottom surface 14 and can be fed via an extraction device to an integrated collecting container.

Ultimately, the entire ground-working machine is supported via the front and rear wheels and is supported by it, for which purpose the ground-working machine 1 generally comprises a chassis 15 carrying the further structures.

From the side view it can be seen that the tillage machine 1 is roughly divided into three sections, namely a steering area 16a, a seat area 16b adjoining it in the rearward direction R and an adjoining machine area 16c.

Since the tillage machine 1 is preferably designed as a driver's seat machine, as usual, a seat 21 is provided behind the steering assembly 16q, on which a large part of the technology area is again housed below a vehicle cover 23, including drive motors, power supply, cleaning agent container and dirt container etc. Also accommodated either in the trailing vehicle section 16c or in the remaining below the seat 21 storage space 25b or in the area below the housing cover of the steering assembly 16a also the necessary electronics including a control device for operating the explained below in more detail cleaning machine.

Before discussing the large number of sensors provided in detail, it is also noted that by operating the steering wheel 19, preferably the entire cleaning head 3 arranged below the steering area 16a can be swiveled from straight ahead to either the left or the right, to make a turn to the left or to the right. Following the turning angle, the floor cleaning units 4, i. 4a and 4b and the trailing squeegee correspondingly pivoted to the left or right, as is known for example from EP 1 239 762 B1. The overlying chassis or the chassis structure with the steering area 16a and the seat portion 16b is located above the pivotable cleaning head 3 and is not pivotable itself. This chassis structure is located above the height H1, as shown in Figure 2.

In order to ensure the safest possible handling of the cleaning machine, and if necessary also to use it as a robot. NEN, a plurality of sensors are provided, which will be discussed below.

In particular from FIGS. 1, 2, 3 and 4 it can be seen that in the leading steering section 16a in a height range HBL between the ground surface 14 and the arrangement of the steering wheel 19 at least one preferably centrally or two preferably slightly eccentrically arranged sensors S1, ie S1 a and S1 b, which are preferably arranged in the section above more than 20%, in particular more than 30%, 40% or 50% of the length of the height range HBL, but preferably not higher than 70%, 80%, 90% or 100% of this length HBL.

These sensors S1 can consist, for example, of 3D cameras which illuminate an angular range of, for example, 90 ° to preferably over 180 °, the left sensor S1a and the right sensor S1b overlapping in the middle region with respect to their respective field of view , for example in a range of at least 20 to 40% of the field of view.

With such a sensor device, preferably in the form of a 3D camera or in the form of the mentioned two 3D cameras 1 a, 1 b, the detection of obstacles in the direction of travel F of the cleaning machine, especially if it is designed as a self-propelled robot, easily recognizable , By means of this at least one or the at least two sensors, the entire environment should be recognized, which could basically be touched by the cleaning machine (by starting, collision, etc.), specifically the monitored surrounding area with sufficient length illuminated in the direction of travel F and should be monitored (as indicated for example in Figure 5 there for a narrower range).

As can be seen from the figures, the leading steering section 16b is formed as a stem, which has a free space 27 at a certain distance above the ground surface, below which also the mentioned actuating, working or cleaning units 4, 4a, 4b are arranged (including the leading to the left and right swivel Laufra- 13c, etc.).

A second second sensor S2, which is responsible, for example, for orientation in space, is provided on the leading steering section 16a, preferably on the underside 27 facing the above-mentioned free space. By means of this sensor S2, the spaces to be traveled and possibly also the other spatial surroundings can be detected and measured, so that by means of the control and output Values device corresponding cards are created, within which the machine can move, for example as a self-propelled robot and should. A sensor S2 is sufficient, although of course here again several sensors can be provided. The mentioned sensor S2 is in this case - since only one sensor is installed - arranged in the leading area centrally to the vehicle. Preferably, this is a Laserscan- ner, although here also different other types of scanners can be used.

With this sensor, it is ultimately possible to detect both static and dynamic flaws.

It can also be seen from the drawings that sensors S3 are provided at the two laterally extendable and retractable and / or outwardly pivotable and in turn pivotable tillage units 4a, 4b. This means that a sensor S3a is provided on the floor cleaning machine on the left-hand side on the left-hand extendable soil working unit 4a, and a sensor S3b on the floor cleaning machine on the right of the soil working unit 4b there. These sensors are, as mentioned, provided or positioned in the outer region of the soil working unit 4a, 4b, ie in an area which exceeds more than 50%, in particular more than 60%, 70%, 80% or more 90% of the total length of the tillage unit 4a, 4b extending in the extended position. Optionally, the mentioned sensor S3a or S3b could even be mounted at the outermost end of the soil working unit 4a, 4b, possibly even so that the sensor S3a or S3b in the lateral direction on the tillage unit 4a, 4b even outwardly protrudes or after this soil cultivation unit towers over the outside.

These sensors can also be realized in the form of different sensors. Ultrasonic sensors are preferred for this purpose. These are proximity sensors that, for example, can only scan a distance space of up to 15 cm or 20 cm as the maximum length. In the figure 1 as well as the figures 2 and 3, the range of these Nahbereichssenso- ren S3a and S3b is located. The sensors are provided only at the level of the floor cleaning units 4a, 4b and do not project beyond the underside of the floor cleaning unit 4a, 4b in the direction of the floor or floor surface 14. In addition, the figures reproduce the detection space in its width and length by making the mentioned short-range sensors S3a and S3b effective. The sensors S3a and S3b can also be designed as ultrasonic sensors. With them, shoulders or crashing edges AK lying laterally to the vehicle can be recognized if they have a height difference of, for example, more than 2 cm and in particular more than 2.5 cm or 3 cm downward (see also FIG. 5).

For the two abovementioned sensors S3a and S3b, which are fastened to the groundworking units 4a, 4b and can be moved with them, a further sensor S4 is fixed in the center of the chassis and preferably fixed relative to the chassis, namely at the leading end portion of the leading between the vehicle and steering section 16 c and the tillage units 4, which is aligned in the direction of the bottom surface 14 (as well as the mentioned lateral sensors S3a and S3b). Here, too, it is preferably a proximity sensor, which only needs to illuminate an area of, for example, at least 2 cm or 3 cm to 10 cm, 15 cm, maximum 20 cm, the height range in the direction of the ground, for example, to detect a leading fall edge AK , This sensor S4 is preferably likewise an ultrasound sensor, by means of which fall edges AK located in front of the vehicle can be detected, such as a ramp, etc. Detection of frontal fall edges AK lying in the direction of travel are then effected by means of the abovementioned Sensor detects when these fall edges have a height of more than 2 cm or at least more than 2.5 cm or 3 cm.

Also shown in the figures are proximity sensors S5, ie proximity sensor S5a located on the left-hand side and proximity sensor S5b located on the right-hand side. These proximity sensors serve to check the position of the tillage units 4a and 4b. Only if these wing-type soil working units 4 a, 4 b, which are sometimes also referred to as cleaning wings, are extended and / or swung out or swung out, the corresponding sensors S 5 a or S 5 b indicate that the corresponding cleaning wings are actually at a certain percentage and preferably too 100% are extended. Only then is the fall protection system discussed below active. Only in this case, therefore, can the sensors provided for fall protection supply signals and / or process correspondingly delivered signals which serve to prevent falls on an edge or a shoulder. Only if, therefore, the proximity sensors report that the cleaning blades have extended, can the tillage machine, for example, be moved in parallel along a ramp or falling edge, or be removed therefrom with a turn. It can also be seen from the figures that in the front area of the cleaning machine on the vehicle body 29, preferably below the leading vehicle and steering section 16c but above the short-range sensor S4 directly illuminating and scanning the ground, a further sensor S6 is provided, for example, for the safe detection of persons during forward travel F is responsible. He may for example consist of a laser scanner. In this case, it preferably illuminates a range of preferably more than 60 °, in particular more than 70 °, 80 °, 90 °, 100 °, 110 °, 120 °, 130 °, 140 °, 150 °, 160 ° or more than 170 ° , in particular up to 180 °, in the middle in relation to the already mentioned longitudinal plane of symmetry M. Basically, this sensor S6 could also be installed at higher positions, for example also at the leading vehicle and steering section 17.

On the side areas 9a and 9b of the cleaning machine, sensors S7a and S7b pointing the direction of one another are preferably provided on the side, ie fleas of the seat 21, in the opposite direction from one another, with which the side area 22 of the vehicle can be illuminated. Again, this may be, for example, a laser scanner. By means of these two sensors, a secure detection of persons during forward travel is possible, which could penetrate from the side into the danger zone. In this way, however, it is also possible to check whether, when passing through doors or in other areas where objects are projected not only from the floor to a final height, but also at an intermediate height laterally into the path of the cleaning machine, avoiding or avoiding these prominent obstacles or at least stopping them. The side monitoring area 22 monitored by the sensors S7a and S7b on each of the two sides 9a, 9b of the ground-working machine is shown by dash-dot lines in FIG. In this case, the sensors S7 can monitor both the front and the rear of the side area in an order of magnitude corresponding, for example, to a radius of 2000 mm, as shown schematically in FIG. 6 by specifying this order of magnitude R2000. Here, the side area is monitored from front to back with a corresponding radius R2000, so that only remains open, for example, an upwardly facing area, which is marked with an angular range of 90 °. In this case, the entire lateral area is monitored up to a total height HG of the tillage machine, that is to say including the roll bar 55 provided and a warning lamp 57 mounted on top thereof. The sensors S7a and S7b are provided at a height HS7 which is approximately 50%. to 100% of the total height HG of the soil tillage machine corresponds. Additionally provided rotation angle sensors S8 serve to detect the position of the rotatable brush unit, that is to say the tilling units 4a, 4b. This rotation angle sensors thus recognize the position of the rotatable cleaning head 3, which can be pivoted, for example, for left-hand drive up to 90 ° in one direction and right-hand drive up to 90 ° in the opposite direction together with the front wheel 13c. Driving on the left is usually understood as a range of 90 ° ± 5 ° pivoting direction to the left or 90 ° ± 5 ° to the right. A pivoting movement of -5 ° over 0 ° to + 5 ° with respect to the longitudinal symmetry plane M is defined as straight ahead.

In other words, not only an exact travel orientation of 0 ° with respect to the longitudinal plane of symmetry M is evaluated as straight-ahead travel, but also a deviation of -5 ° to the left or of + 5 ° to the right thereof.

These rotational angle sensors for detecting the angle of rotation of the vehicle can be designed in the form of three sensors, which are arranged with transverse offset from one another and can detect the respective steering angles.

For the detection of obstacles during reverse travel R, at least one sensor S9 is provided on the rear side 9c of the cleaning machine, this preferably consisting of a 3D camera or a laser scanner. If it is only a sensor, this is preferably arranged centrally on the rear side 9c, preferably in an area which is more than 50% of the height of the vehicle body. If, for example, two such sensors S9 were provided, they would preferably be slightly laterally offset relative to the longitudinal plane of symmetry M, preferably at the same height, on the rear side 9c of the vehicle body of the cleaning machine.

In addition, at least one sensor S10, e.g. provided in the form of a bumper strip, namely on the rear side 9c. This sensor S10 is also used for the safe detection of persons during the reverse drive. In a collision, an immediate stop of the cleaning machine would be effected. This sensor device in the form of the bumper strip 10 is provided at a height HS10 which corresponds approximately to the height position H1 or is arranged lower by 10% to 20% or at most 30%.

Furthermore, sensors S11, S11a, S11b are provided in the region of the rear side regions 9a, 9b, ie in the vicinity of the transition to the rear side 9c, and there again preferably in the lower region of the cleaning surface. machine, for example at the height of the chassis. These sensors are also used to reliably detect crash edges, especially during reverse travel. They can also be designed again as close-range sensors which, for example, detect differences in height at edges of at least 2 cm, 2.5 cm or 3 cm, in which the viewing or viewing area usually does not extend beyond 10 cm, 15 cm or 20 cm. goes, but that is not necessary. Preferably, therefore, at least two sensors S11a and S11b are provided, namely on each side region of the vehicle, preferably at the transition to the rear side 9c.

Between the sensor S2 and the sensor S6, there is another sensor S12 mounted at a slight angle and visible from the figures, which serves to detect small obstacles and objects on the ground. He thus also serves the leading detection of falling edges AK, which would lie in the direction of travel of the cleaning machine in front of the cleaning machine, i. even with appropriate leash impact. This sensor can likewise preferably be designed again as a laser scanner.

At least one and preferably at least two sensors S13 consist for example of rotary angle encoders or potentiometers. These serve to control and regulate the steering movement of the cleaning machine, in particular in the case of a self-propelled robot machine. For example, they may be mounted on the vehicle body, chassis in such a way that the steering angle of the front steerable roller 13c and of the cleaning head 3 can be detected.

Furthermore, a sensor S15a and S15b is provided in the leading area of the cleaning machine on respectively the left side and once also the right side. They serve to detect the position of the rotatable brush unit. They also serve the additional redundant and thus safe detection of a fall hazard.

At least one of the rear wheels 13a, 13b, and preferably each one of the rear wheels, is individually associated with a sensor S16, i. Preferably, a sensor S16a and sensor 16b, each comprising an encoder, via which the speed of the respective rear wheel can be measured.

In the drawings, a sensor S17 is also shown, which includes an encoder that serves a safe speed measurement, for example in the form of a rotary encoder on the drive motor. In addition to the above-described sensors, for example, a switch or a contact strip K1 is also provided. That is, in concrete terms, a switch or a contact strip K1 a for the leftlie in the direction of lowing tillage unit 4 a and a switch or a contact strip K 1 b provided for the right in the direction of travel tillage unit 4 b. If these switches of the contact strips, which are assigned to the ground processing units 4a and 4b, are activated, the wing-type tillage units 4a, 4b are retracted, whereby the cleaning machine is reduced in width to the width dimension of the chassis.

It should also be pointed out that a mechanical coupling 31 is provided (FIG. 1). This mechanical coupling is provided in order to decouple the drive and the drive wheel in the event of a fault. Because it must be possible in such a malfunction that the cleaning machine can be towed over a towing device (for example, a tow bar).

By means of the cleaning or cultivating machine according to the invention, it is possible to identify and analyze all relevant driving conditions and to react accordingly by means of the intended control device or to use only certain reaction patterns, i.e., Driving patterns, to implement or to unlock for implementation.

For example, in conjunction with the control device, it is possible for the control device to be constructed and / or programmed such that, whenever the sensors provided for this purpose, in particular those which are seated on the groundworking units 4a, 4b and can be moved therewith or pivotable sensors S3a and S3b and / or the sensor S2 and / or also provided for the crash edge detection sensors 15a, 15b - which are aligned in the direction of the bottom surface 14 - suddenly look at a crash edge "in depth", Si ensure that the tillage or floor cleaning machine stops immediately, for example.

In this case, it may be provided that only an opposite steering movement - which is also recognized again by the sensors, is possible, so that the driver or in the case of operation of the Bodenbearbei- tungsmaschine or floor cleaning machine in the form of a robot only continue can when a steering movement is taken away from the crash edge. This steering movement must be at least so great that at least the distance to the falling edge is not reduced, but is preferably increased. If the intended purpose If the sensors are again "solid ground", the soil tillage or floor cleaning machine can continue as usual. It would also be possible for the control device to be set up and / or programmed in such a way that the soil tillage or soil cleaning machine the mentioned edge, falling edge or ramp, etc. is moved along with observance of a predefinable safety distance, preferably being moved along automatically.

In general, it can be noted that for the tillage or floor cleaning machine, whether designed as a driver's seat machine or as a self-propelled robot, it is of decisive importance that the machine has very high flexibility in use, in particular by a variable working width, which can be adapted according to the circumstances. In other words, a variable cleaning working width can be set, predefinable or automatically set for the soil tillage or ground cleaning machine which can be operated as a driver's seat machine or robot by corresponding partial retraction or pivoting of the laterally projecting tillage units 4a, 4b.

FIG. 5 shows diagrammatically how individual sensors can monitor a further field NF or a more distant field EF, for example in the forward direction of travel, the aforementioned rearward sensors 15a and 15b likewise preferably being closer or more distant when reversing Field to monitor edges or crashing edges in the ground as early as possible and then deducted by the appropriate sensors to limit the driving behavior accordingly to increase safety or to allow only certain directions and / or steering angles, the safe Allow the tillage machine to move on the floor surface 14 at a distance from the edge AK.

In this case, the near field NF is indicated in FIG. 5, which may extend, for example, up to a radius R2000, that is, in the direction of travel F may have a leading range of, for example, up to 2000 mm. This near field NF serves directly as a protective field, so that a corresponding sensor monitoring this near field NF would make a change acting on the ride directly, especially in robot operation, if an obstacle is detected in this area. For example, first of all the driving speed could be further reduced, the tillage machine could be braked and stopped in good time before reaching the obstacle and / or a lateral evasive movement could be initiated. the. Beyond this near field NF, for example, a far field can be monitored up to a radius or a distance of 8000 mm, as indicated in FIG. 5 with the marking R8000. This monitored far field can also be called a warning field. If an obstacle is detected here, this is already anticipated in the further travel movements, without the final direction influencing measures or changes in direction of travel having to be carried out immediately.

Also in reverse, a corresponding far field or at least near field or protective field may be provided for monitoring, which, as shown, in a wide range of angles, for example, about 100 ° to 140 ° or 150 °, 160 °, 170 ° or 180 ° can extend, especially when cornering reverse reliably to see if there is a crash edge in the vicinity or at least an obstacle in this area. When driving straight ahead, the proximity or protective field monitoring and preferably the remote or warning field monitoring is preferably reduced to a customary width range, for example a width range of 2000 mm, which is thus significantly greater than the width of the vehicle. This area is therefore preferably between 100% and 200% of the vehicle width. In other words, the monitored latitude range of the far or near field has a size measure which is greater than 100% of the vehicle width, in particular greater than 110%, 120%, 130%, 140%, 150%, 160%, 170%, 180%, 190% of the vehicle width and preferably less than 200% of the vehicle width, in particular less than 190%, 180%, 170%, 160%, 150%, 140%, 130%, 120% of the vehicle width.

In the following, even more preferred variants of the control of the soil tillage implement according to the invention are reproduced if it is operated on the one hand controlled by a person or also in the case that it is provided with a robot function and acts as a self-propelled robot.

In the case where the tillage machine is controlled by a service person, the following aspects are preferable.

The tillage machine is preferably equipped with an additional key switch 31, which is indicated in Figure 1 in its position. A key inserted in the key switch can be seen in FIG. Similarly, a key switch can be provided, which is carried close to the body of a machine-operating service person in mobile execution. In this case would be a wireless connection exist between this key switch and the tillage machine, for example, within a wireless network and / or in the context of a Bluetooth connection or otherwise. Such a key switch 31 is used to activate the fall protection.

Fall protection is activated if a "safe control" approved from the control principle is selected as the operating concept based on safe hardware and software. In the case of a selected "safe control", the stop commands ultimately triggered by a sensor are transmitted directly to the vehicle controller in the event of tripping, whereby the soil tillage machine is stopped immediately. Additional signaling devices such as acoustic or optical signal or warning lights preferably indicate in activated mode that the "fall arrester" is activated. This can be done, for example, by permanently lighting a luminaire provided for this purpose. When this fall protection mode is displayed as one of the possible operation modes, it is possible to drive in a fall-proof mode.

If brush devices or the cleaning vanes are not in a predetermined operating mode, a further luminaire or even the signal device for operating a "fall-proof mode" may light up, wherein the machine control system preferably further implements the tillage machine can not move.

Another prerequisite for the operating state or the operating mode "crash-proof mode" is that in addition, for example, at least the sensors S5, S14 and S15 are active and transmit a corresponding signal that is or can be interpreted as "ready for use". Only in this case will the corresponding light illuminate for the operating indication "safe fall mode" and the soil tillage implement can be used accordingly.

In the activated mode (fall protection), for example, the sensor S12 anticipates whether the soil tillage machine is approaching a fall edge. If the sensor S12 detects a falling edge on the left or right of the soil tillage implement, it can only steer in the opposite direction, but in principle it can continue to travel. Controlled in the "opposite direction" means that the soil tillage machine can forcibly make a steering stop only in such a way that it basically re-emerges from the curb at most over a short intermediate phase. without the danger exists or has existed or may exist, that the soil tillage implement can actually fall off the edge.

If the sensor 3a or 3b recognizes, for example, a crash edge, the soil tillage machine stops. In this case, it can only be moved and / or steered in the opposite direction.

The monitoring of the steering movement takes place at the same time via the sensors S8 and the monitoring of the speed and / or the direction of travel via the sensors S17.

Since a steering movement opposite to a falling edge could in principle lead to a rear wheel 13a or 13b of the soil working machine moving at 90 ° rotation of the tillage machine towards the falling edge, i. For example, in the worst case, the outer rear wheel 13a or 13b facing the crash edge would even travel past the crash edge without this being detected by the front sensors, it is additionally provided that the two rear sensors S11 always monitor the reverse drive range and, if they detect that imminent collapse is imminent at a crash edge, stop the reverse drive of the soil processor.

If, in such a case, i. In such a driving situation, the front-sitting sensor S4 now also recognizes that the ground-working machine is in the immediate vicinity of a falling edge, so that the ground-working machine would be stopped so that the driver can no longer move the ground-working machine further. Because in this case, no safe direction of travel is available any more. In this situation, it is now up to a supervisor to move the machine back to a safe ground by actively intervening and deactivating the fall protection.

Incidentally, it is also noted that when activating the so-called "fall protection" by the supervisor, the tillage machine can preferably only be moved with a limited maximum speed. This reduced speed is preferably adjustable. Because lower speeds result per se a higher security. They also cause the braking distance is shorter. The illustrated tillage machine can not only be operated and operated by a driver, but it can also be equipped with a robotic function, ie it is designed as a self-propelled ground processing machine.

In the case of the so-called robot variant, basically the above-described fall protection works in the same way. However, in the robot variant no so-called supervisor is provided. The supervisor provided for normal operation as well as the driver, ie the service person otherwise driving and controlling the tillage machine, is replaced by another control computer, which is also sometimes referred to below as the navigation system. In addition, for example, the sensor S13 provides information to the control computer for the steering.

Preferably, in the so-called robot variant or in the operation of the soil cultivation machine in robotic mode, three individual control systems are provided or three individual control systems are used, which ultimately serve to generate adequate safety through cooperation and cooperation.

These are the following three individual control systems:

1. To control the motor control of all motors, i. in particular preferably the drive motor, the suction motor (for the cleaning device), the wing motor (for lateral extension and retraction of the floor cleaning devices), the brush motor, a water pump, a solenoid valve, a steering motor for operating and monitoring a steering angle, etc ,

2. Also provided is a switching control means for switching between a manual control and a navigation computer-based control. In other words, the above-mentioned additional control computer is thus ultimately provided and used, which was also referred to as a navigation system. In this respect, it is sometimes spoken not only of an additional control computer or a navigation system, but also of a navigation computer. For this purpose, in particular the mentioned sensor S2 preferably in the form of a laser, in particular in the form of a laser scanner, the sensor S1 preferably in the form of a camera, the sensor S9 preferably at the back of the soil working machine, the sensors S13, S12, S16, S17 and / or the contact strip K or K1. 3. For the "safe control" control mode, the sensors S7, S11, S10, S6, S17, possibly also S8 and S12, as well as all sensors S3 as well as the sensors S15 and the contact strip K1 are used.

Already by arrangement and position of the individual sensors arise at least approximately certain tasks preferably provided for them.

To the above mentioned paragraph 1:

With regard to the engines for the various engine control systems listed in point 1 above, it is only necessary to note that the engines concerned are all connected to signaling devices which supply the corresponding engine status data to the engine management and / or general control, and / or provide an additional control provided and / or vice versa can receive control data from these control systems and implement accordingly. This includes the data for switching the motor on or off, possibly acceleration of the motor, provided that this is not mathematically calculated from the speed data, etc.

To the above point 2:

Thus, sensors S1, S2, S9 and / or S12 serve to provide the navigation computer, that is to say the additional control device, with an image of the environment of the soil cultivation machine, with all the static and / or dynamic obstacles contained in the immediate environment - sen, in which for the "cleaning" shared area, ie in the areas approved for this purpose or routes or connecting routes between areas to be cleaned.

The sensors S11, S15, S16, S13, S17, S14 and the contact strip K1 report the state of the control device (navigation computer, ie the so-called navigation system or the additionally provided navigation control, sometimes also referred to as additional control device or control computer) Soil cultivation machine, ie conveys the corresponding data relating to the "direction", "speed", the "steering angle", the "aggregate bottom or top, ie, in other words, the brush and / or cleaning units 4a, 4b lowered or raised to the ground are floating over the "cleaning wing", whether it is retracted or extended, etc. All this information is stored in the additional control device (navigation system). Computer) processed and set the direction of travel. As a result, the tillage machine then either completes the planned route for cleaning or for carrying out a transport journey or, in the case of unforeseen obstacles, carries out the calculation of an evasion route in order to return to the planned route after the obstacle ,

It is important to always maintain and ensure the flexibility of the tillage machine with variable working width. This is especially true for so-called wing technology, i. the laterally retractable and extendable soil tillage units in conjunction with a large-sized rotation of the tillage machine and thus the processing head with the two laterally extendable and extendable Bodenbearbei- processing units 4, 4a, 4b. The angle of rotation range of the soil tillage machine covering a large angle range should in any case be greater than + 90 °, in particular greater than + 100 °, + 110 °, + 120 °, + 130 °, + 140 °, + 150 °, + 160 °, + 170 °, + 180 ° and preferably greater than + 190 °, and more preferably at least up to + 200 ° range, in both directions, ie both to the left and to the right. This applies, moreover, to a ground-handling machine operated in the manner of a robot, but also to a ground-working machine which is operated 100% manually by a service person, the corresponding sensors for fall protection and collision protection on objects, walls etc. or are generally equally effective on flies or persons and, for safety reasons, limit or regulate the free maneuverability of the tillage machine accordingly, in the worst case even cause the tillage machine to stop.

To the above mentioned point 3:

The sensors S6, S7 and S10 mentioned above under section 3 preferably adopt the associated protective function in addition to the other sensors for implementing a fall protection in order not to approach, touch and / or damage people and obstacles. The sensor S10, for example, preferably ensures that, for example, at reduced speed in the event of a reverse drive, a person is not injured. This can therefore be realized by the bumper strip serving for safety or by other security sensors for personal recognition. The sensor S7, once in left-hand and once in the right-hand orientation, serves to monitor persons or obstacles entering the safety area from the side. The sensor S6 secures the area in the direction of travel. These different protective fields are defined in terms of their size, orientation and / or shaping with additional consideration of the driving speed and / or the braking distance, ie they can have different size, position and / or shape as a function of the driving speed and the braking distance. There are sensors that pre- viously monitor the more distant areas of the room, and other sensors that monitor the immediate vicinity in the direction of travel, as well as in the direction of turning to the left or to the right. All or the most important or essential sensors can ultimately be used to softly shut down (slow down) the soil tillage machines when persons or obstacles are detected. This applies in particular to the respective "last or the protective field closest to the ground processing machine" which is monitored by at least one of the several sensors. Because the use of several sensors includes the basic concept that a certain area drivable by the soil tillage machine or passable monitoring or protective field is monitored several times, whereby upon detection of an obstacle by a first sensor, a deceleration to a slower one Speed and / or deceleration and / or stopping and / or steering maneuvering by a steering movement can be implemented. In addition or as an alternative, it is of course also possible that, for example, only the speed of the soil processing machine is reduced, etc., in order to wait whether a person or an obstacle is still in the area of a protective field "last or closest" to the soil cultivation machine, which is still monitored by at least one sensor provided for this purpose in the immediate near field area, so that only then the corresponding braking movement or steering movement for the avoidance of the obstacle is finally initiated.

Claims

claims:

1. tillage machine, in particular floor cleaning device with the following features

the tillage implement comprises at least three running wheels (13, 13a, 13b, 13c), by means of which it is movable on a bottom surface (14), at least one running wheel (13c), preferably the front wheel (13c) is a pivotable running wheel (13c) for changing the running gear Direction of travel,

the harrow has a front side advancing in the forward direction (F), two opposite side areas (9a, 9b) and a rear area (9c),

a large number of sensors are provided for detecting the driving condition and the driving situation, and

at least one frontal heel or fall sensor (S4) is provided, which is aligned in the direction of the bottom surface (14) and which detects a lowering of the floor surface in relation to the drivable floor surface (14),

characterized by the following further features,

at least on one side of the vehicle (7a, 7b) there is at least one ground-extendable unit (4, 4a, 4b) that can be moved out and in and / or swung out, or one each on both sides of the vehicle (7a, 7b) it is at the at least one soil cultivation unit (4; 4a, 4b) a sensor (S3a, S3b) or it is at both tillage processing unit (4; each sensor (S3a, S3b) is provided (4; 4a, 4b),

the sensor (S3; S3a, S3b) provided on the at least one soil-working unit (4; 4a, 4b) or the two sensors (S3, S3a, S3b) provided on the two soil-processing units (4; 4a, 4b) designed as in the direction of the bottom surface (14) directed heel or fall sensors that detect a floor level change, if this by a predetermined or predetermined Ab- is lower than the soil surface (14), and

the heel or fall sensors (S3; S3a, S3b; S4) and an associated associated control device are designed in such a way that upon detection of a change in level with respect to the drivable floor surface (14), a control signal is output, whereby the driving behavior of the tillage machine is changeable and / or or is restrictive or altered and / or restricted.

2. Soil cultivation machine according to claim 1, characterized in that further sensors (S11; S11a, S11b; S12) are provided for detecting a ground level change, preferably with a further sensor (S12) for the leading detection of a falling edge (S11). AK) and / or for the early detection of obstacles and objects on the ground, which are preferably also in the direction of travel of the ground-working machine with a corresponding steering angle in front of the ground-working machine.

3. Soil cultivation machine according to claim 1 or 2, characterized in that the control device is designed such that upon detection of a ground level change by the sensors provided for this purpose (S3; S3a, S3b; S4; S4a, S4b; S11; S11 a, S11 b; S12) the soil working machine

a) decelerates and / or stops, or

b) influences the steering movement such that the tillage machine can or can only be moved parallel to a heel or fall edge (AK), and / or

c) a steering wheel movement or a steering angle is only possible in such a way that the ground-working machine can be moved or moved away from the heel or fall edge (AK).

4. Soil cultivation machine according to one of claims 1 to 3, characterized in that the sensors for detecting a ground level change (S3, S3a, S3b, S4, S4a, S4b, S11, S11a, S11b) are formed as Nahbereichs- sensors are that measure and detect a distance measurement as heel or fall sensors when the drivable floor surface (14) on a shoulder or ramp by at least 2 cm, preferably by at least 2.5 cm, 3 cm, 3 , 5 cm, 4 cm, 4.5 cm or at least 5 cm lower than the tillage surface (14).

5. Soil cultivation machine according to one of claims 1 to 4, characterized in that further for the at least one or the two laterally a sensor (S5, S5a, S5b) is preferably provided in the form of a proximity sensor or proximity switch, wherein the fall protection is only active when the or the sensors (S5, S5a, S5b) report that the lateral or lateral groundworking or groundworking units (4, 4a, 4b) are extended and / or swung out, at least to a certain percentage.

6. Soil cultivation machine according to one of claims 1 to 5, characterized in that also for monitoring a reverse drive at the rear region of the soil cultivation machine and / or at the side areas (9a, 9b) of the soil cultivation machine at least one sensor device (S11; S11 a, S11 b) are provided for the recognition of heels or fall edges when the tillage machine moves backwards.

7. Soil cultivation machine according to one of claims 1 to 6, characterized in that a further sensor (S6) for the detection of persons and / or obstacle during forward travel (F) is provided, which preferably consists of a laser scanner and preferably a Range of more than 60 °, in particular more than 70 °, 80 °, 90 °, 100 °, 110 °, 120 °, 130 °, 140 °, 150 °, 160 ° or more than 170 °, in particular up to 180 ° - lights up, in the middle of a longitudinal plane of symmetry (M) running through the soil cultivating machine.

8. soil cultivation machine according to one of claims 1 to 7, characterized in that further comprises a over the rear region of the tillage machine at least predominantly extending and preferably to the rear region of the side regions (9a, 9b) extending bumper (35) is provided, over which a stop and brake signal can be generated upon triggering, about which the soil tillage machine is stopped and / or braked.

9. Soil cultivation machine according to one of claims 1 to 8, characterized in that one or more at least predominantly in Geradeausfahrt aligned centrally or laterally offset transversely to a central longitudinal plane (M) arranged sensors (S1; S1 a, S1 b; S12 ; S2) are provided, which serve to monitor the track.

10. soil cultivation machine according to one of claims 1 to 9, characterized in that each of the two side regions (9a, 9b) is associated with a sensor device (S7a, S7b), about which the side area the tillage machine can be monitored for stationary or moving obstacles lying in the travel area, wherein the side area monitoring sensors (S7a, S7b) preferably consist of or comprise laser scanners.

1 1. Soil cultivation machine according to one of claims 1 to 10, characterized in that in the leading portion of the ground processing machine for detecting and / or measuring the spaces to be traveled or the spatial environment, an orientation sensor (S2) is provided.

12. Soil cultivation machine according to one of claims 1 to 1 1, characterized in that for illuminating the track preferably at least one and preferably at least two vertically offset superposed sensor devices are provided depending on the steering position of the tillage machine at least one Near field and / or a farther field in the direction of travel before the tillage machine lying illuminated.

13. Soil cultivation machine according to one of claims 1 to 12, characterized in that in the front region preferably above the sensors (S3, S3a, S3b; S4; S6; S1 1 a, S1 1 b) for detecting a heel or a falling edge ( AK) a front side or at least two compared to a longitudinal center plane (M) extending through the soil tillage machine plane laterally offset and / or provided with slightly lateral alignment sensors (S1, S1 a, S1 b) are provided, the front driving range in a Angle range of more than 90 °, in particular more than 100 °, 1 10 °, 120 ° to preferably 180 ° illuminate.

14. Soil cultivation machine according to one of claims 1 to 13, characterized in that with respect to the central longitudinal plane at an angle laterally spaced away from each other two forward distance sensors are provided, with a footprint and / or surveillance area located in the area the longitudinal median plane (M) overlapped.

15 soil cultivation machine according to one of claims 6 to 14, characterized in that an orientation sensor (S2) and / or an obstacle detection serving obstacle detection sensor (S6) are provided, which are preferably below the in the form of Vorwärtsfahrts- distance Monitoring sensors acting sensors (S6, S1 1, S1 1 a, S1 1 b) are arranged on a lower level.

16. soil cultivation machine according to claim 15, characterized in that the obstacle detection sensor (S6) is formed so that the detection of moving obstacles can be carried out, including the obstacle detection sensor (S6) is preferably designed as a laser scanner.

17. Soil cultivation machine according to one of claims 1 to 16, characterized in that at least one sensor (S2) is provided, by means of which a location detection with respect to the transportable by the ground processing machine rooms or the environment is feasible.

18. Soil cultivation machine according to one of claims 1 to 17, characterized in that at least one further sensor (S9) is designed as a 3D camera or laser scanner for detecting obstacles during reversing, which are preferably provided in the rear region of the soil tillage machine.

19. Soil cultivation machine according to one of claims 1 to 18, characterized in that at least one rotary position detection sensor (S8) and preferably two or three rotary position detection sensors (S8a, S8b and S8c) are provided, the recognition of Stel - Lung and alignment of a pivotable soil tillage unit nen.

20. A soil cultivation machine according to claim 19, characterized in that the rotational position detection sensors (S8a, S8b, S8c) are formed so that it can be seen whether the steering unit and / or the soil working unit (4a, 4b) is aligned in straight ahead , with a steering wheel angle of 0 ° or in a steering angle of -5 ° to + 5 °, and a steering angle of 90 ° to -5 ° to the left and an angle of 90 ° to -5 °

21. A soil cultivation machine according to one of claims 1 to 20, characterized in that at least one and preferably a plurality of speed detection sensors are provided, preferably for speed measurement on or in the region of the rear wheels (12) and / or in the area of the at least one front wheel (13).

22. Soil cultivation machine according to one of claims 1 to 21, characterized in that on the or the Bodenarbeits- or soil-processing units (3a, 3b) each a contact means (K1) is provided which trigger an actuation signal when touched, over which the extended or swung out bottom work or Bodenbearbei- unit units (3a, 3b) are retracted and thus the width of the soil tillage machine is reduced to the width between the sides (9a, 9b) of the soil processing machine.

23. Soil cultivation machine according to one of claims 1 to 21, characterized in that the soil cultivation machine is designed as a seat machine or as a self-propelled robot.

24. Soil cultivation machine according to one of claims 1 to 23, characterized in that the control device is constructed such that always a plurality of signals from a plurality of sensors and / or the sensor monitored by the plurality of sensor fields evaluated and certain control functions are implemented in dependence thereon.

25 soil cultivation machine according to one of claims 1 to 24, characterized in that in response to a plurality of sensors or the sensor array monitored by the plurality of sensor fields upon detection of an obstacle and / or a crash edge at least when activating a "safe mode". As a result, the tillage machine may at most only be braked parallel to a curb, but preferably by automatic steering from the curb and / or to a standstill.

26. Soil cultivation machine according to one of claims 1 or 25, characterized in that the soil cultivation machine and a preferably provided control device is or are designed so that when evaluating the sensor signals from a plurality of sensors and / or monitored by the plurality of sensor fields one over several Sensors detected obstacle only then leads to a via the control device caused change in the driving and / or braking behavior, if at least one subsequent to a first sensor or the first sensor sensor field sensor associated with a second or subsequent sensor field , an obstacle and / or a falling edge is detected.

27 soil cultivation machine according to one of claims 1 to 26, characterized in that the at least one control device preferably comprises a control computer, and preferably at least one further or second control device, preferably in the form of a second control computer, preferably the Aufbe preparation and evaluation of all data needed for the navigation of the soil tillage implement, especially in robot mode.

28. Soil cultivation machine according to one of claims 1 to 27, characterized in that a rather the left side of the soil tillage machine associated sensor (S15a) and a rather the right side of the tillage machine associated sensor (S15b) for detecting the rotational position of the brush assembly and / or for the redundant recognition of a heel or a fall edge (AK) are provided

29. Soil cultivation machine according to one of claims 1 to 28, characterized in that short-range sensors comprise at least one ultrasonic sensor or consist of at least one ultrasonic sensor.

30. A soil cultivation machine according to one of claims 1 to 29, characterized in that the proximity sensors (S3, S3a, S3b; S4; S4a, S4b, S6; S11; S11a, S11b) on the tillage machine in the vicinity of the ground surface ( 14) are mounted, preferably at a distance of less than 3 cm, in particular less than 2.5 cm, 2 cm, 1, 5 cm, 1 cm or 0.5 cm above the ground surface (14).

31 soil cultivation machine one of claims 1 to 30, characterized in that provided in the rear region and / or in the side region (9a, 9b) of the tillage machine and the monitoring of the traversable floor surface when reversing serving sensor (S11 a, S11 b) is designed as an infrared sensor or an infrared sensor summarizes.

32. The soil cultivation machine according to claim 1, characterized in that the at least one sensor provided on the at least one soil cultivation unit (4; 4a, 4b) or the two sensors (4; 4a, 4b) provided on the two soil cultivation units (4; S3a, S3b) are provided in the outer region of the associated soil-working unit (4a, 4b), ie preferably in an area which is more than 50%, in particular more than 60%, 70%, 80% or more than 90 % of the total length of the tillage unit (4a, 4b) extends in the extended position.

33. Soil cultivation machine according to one of claims 1 to 32, characterized in that the sensors a) consist of or comprise distance sensors, distance sensors, obstacle detection sensors, ultrasonic sensors, infrared sensors, radar sensors, laser sensors or cameras, and / or b) that the heel or fall sensors consist of or comprise ultrasonic sensors, and / or

c) that the forward distance monitoring sensors or obstacle detection sensors (S6) consist of or comprise laser scanners or 3D cameras.