WO2019192721A1

WO2019192721A1 - Self-propelled and self-steering ground-working device and method for operating ground-working device

Info

Publication number: WO2019192721A1
Application number: PCT/EP2018/058862
Authority: WO
Inventors: Jens UNGAR; Christian Wurm
Original assignee: Alfred Kärcher SE & Co. KG
Priority date: 2018-04-06
Filing date: 2018-04-06
Publication date: 2019-10-10

Abstract

The invention relates to self-propelled and self-steering ground-working device, comprising a ground-working assembly (30) for working the ground surface (12), a control unit (24), a memory unit (26), in which a map (28) of an area (14) to be worked is stored, wherein at least one restriction region (38) is stored in the map (28), which region is associated with a movement restriction for the ground-working device (10) in the area (14), a chassis (16) comprising drive wheels (20) and drive devices (18) associated therewith, which are coupled to the control unit (24) to control the movement of the ground-working device (10) over the ground surface (12) on the basis of the map (28), a first sensor unit (42) and a second sensor unit (44), each coupled with the control unit (24), wherein the control unit (24) is able to determine from signals from the first and the second sensor unit (42, 44) a first position (54) and a second position (60) of the ground-working device (10), is able to check the positions (54, 60) for deviations and is able to determine, as an outcome of the check, an unsafe zone (66) for the actual position of the ground-working device (10), wherein the movement of the ground-working device (10) is restricted according to the movement restriction on contact or intersection of the unsafe zone (66) with the at least one restriction region (38). The invention also relates to a method.

Description

SELF-LEANING AND SELF-LEVERING GROUNDING DEVICE AND METHOD FOR OPERATING ONE

TILLAGE EQUIPMENT

The invention relates to a self-propelled and self-steering ground treatment device, comprising a cultivator for processing the floor surface, a control unit, a memory unit in which a map of a space to be processed is stored, and a chassis with drive wheels and associated drive means, which with coupled to the control unit to control the movement of the soil tillage implement on the ground surface based on the map.

Moreover, the invention relates to a method for operating such a harrow.

With a cultivator of the type mentioned above, an autonomous machining of a floor surface can be carried out. The soil cultivation device is, for example, a floor cleaning appliance whose soil cultivation unit is configured as a floor cleaning aggregate. For example, as a floor cleaning unit a cleaning head with at least one cleaning roller or cleaning brush for cleaning the bottom surface may be provided, which can be acted upon to increase the cleaning effect with a cleaning liquid. Furthermore, a floor cleaning unit may be provided in the form of a dirt collecting device for extracting the mixture of dirt and cleaning liquid from the floor surface. An example of such a floor cleaning device is an autonomous scrubber-drier.

To orientate itself, the harrow can have at least one sensor unit. Based on the sensor unit, the control unit can determine the position and / or orientation of the harrow, the navigation can be done using the map. Positions and orientations of the tillage implement in real space can be ones and orientations in the map and vice versa are mapped, so that a respective position and orientation in the room a counterpart in the map is assigned. A reference to a pose, in the present case in particular position and orientation, of the soil cultivation device in the map is therefore also a reference to a pose of the soil cultivation device in space.

For orientation, the tillage device, if it takes a planned route, a sensor unit. It can be provided that odometric data are used to determine and calculate the route, the route, changes in direction and the pose of the soil cultivation device. In practice, however, inaccuracies occur, for example due to wheel slip and foreign bodies on the drive wheels.

It is also known that by means of a sensor unit landmarks of the space are recorded and identified, which are stored in the map, wherein the assignment of the landmarks to the landmarks of the map can be used to calculate the pose. In practice, it proves to be problematic that sensor units of the latter type are very cost-intensive in order to achieve sufficient accuracy. These are, for example, proprietary solutions, the reliability of which the manufacturer or operator of the soil tillage implement has to rely on.

When the tillage implement is used in practice, there may be areas which, for safety reasons in particular, may not be used. In the map, a counterpart is usually assigned to these areas, so that the movement is controlled on the basis of the map so that forbidden areas are not traveled. Also known is the use of infrastructure measures to restrict the movement of the soil tillage implement, for example physical markings, but this should be avoided for reasons of practicability in practice. In particular, safety considerations speak in favor of defining restriction areas with movement restrictions for the soil cultivation device. This may be, for example, areas in which there is a danger of falling for the soil cultivation device, for example on stairs, escalators or floor areas with insufficient load capacity. Even areas whose sensory detection presents difficulties or is impossible can be provided with a restriction of movement, and also areas of small dimensions in which there is a risk of the tillage equipment becoming stuck due to erroneous motion control.

It is desirable to avoid driving around areas with a restriction of movement. In the case of relatively large autonomous soil tillage implements (for example scrubbing machines), it should be borne in mind that delays and changes in direction require a minimum distance and a minimum time due to a not inconsiderable mass, for example more than 100 kg.

The object of the present invention is to provide a self-propelled and self-steering soil cultivation device and a method for operating such a device, which has increased operational safety.

This object is achieved by an inventive self-propelled and self-steering harrow, comprising a tillage unit for processing the bottom surface, a control unit, a storage unit in which a map of a space to be processed is stored, where in at least one card A chassis with drive wheels and associated drive means coupled to the control unit to control the movement of the tillage implement over the floor surface from the map, a first sensor unit and a second sensor unit, each coupled to the control unit, wherein from the control unit based on signals of the first and the second sensor unit, a first pose and a second pose of the As a result of the check an uncertainty zone for the actual pose of the harrow can be determined, wherein the movement of the harrow on contact or cut the uncertainty zone with the at least one restriction area corresponding to the movement restriction is restricted.

It will be understood that the following statements are made on the assumption of a proper use of the soil cultivating device for processing the soil surface.

The above-mentioned object is achieved by a method according to the invention for operating a self-propelled and self-steering ground treatment device, comprising a soil cultivation unit for processing the floor surface, a control unit, a storage unit in which a card of a space to be processed is stored wherein the map stores at least one restriction area associated with movement limitation for the tillage implement in space, a truck having drive wheels and associated drive means coupled to the control unit for movement of the ground a first sensor unit and a second sensor unit, each coupled to the control unit, wherein the control unit based on signals of the first and the second sensor unit, a first pose and a second pose of Bodenbe- processing tung a check is made of the poses for deviation and, as a result of the verification, a zone of uncertainty is determined for the actual pose of the harrow, the movement of the harrow corre- sponding to the at least one restricted area upon contact or intersection of the unsafe zone the restriction of movement is restricted.

The advantages that can be achieved using the process according to the invention are described below using the example of the soil treatment according to the invention. processing device explained. Advantageous embodiments of the inventive method result from advantageous embodiments of the soil cultivation device according to the invention. In order to avoid repetition, therefore, the following will essentially deal with the soil treatment device.

In the soil cultivation device according to the invention, two sensor units are used. With the first sensor unit, a first pose and with the second sensor unit a second pose of the soil cultivating device can be determined, the control unit can assume on the basis of this that the cultivator occupies the first pose or the second pose in the real space. It is carried out by the control unit to check the poses for deviation from each other. In the present case, this can be understood in particular to mean that a plausibility check of the second pose is carried out on the basis of or with the first pose, and / or vice versa. The check for deviation may, therefore, be in particular a check for match or mismatch of the poses with each other. As a result of the check, the control unit may assume an actual pose which may be erroneous with respect to the true pose. The control unit may further determine, as a result of the check, an uncertainty zone which may be regarded as a measure of the accuracy (or inaccuracy) with which the actual pose can be determined, in particular taking into account the accuracy and / or reliability of the first and second sensor unit. The restriction of movement for the restriction area indicated in the map can be maintained by determining the location of the uncertainty zone relative to the restriction area. In the case of a contact or a section of the uncertainty zone with the restriction zone, the movement restriction is taken as the basis for the control of the movement of the soil cultivation device.

It can be provided that the respective pose provides location information for the soil cultivation device in at least two dimensions and an orientation tion information for the harrow. The orientation may be defined by an angle which a longitudinal direction of the ground processing device assumes relative to an arbitrarily determinable reference direction.

Conveniently, the checking of the poses for deviation during operation of the soil tillage implement is feasible. For example, whenever a sensor unit provides signals for determining a pose, they can be checked for plausibility with the other pose, while the soil tillage implement moves over the ground surface.

It is favorable if the first sensor unit is considered by the control unit to be functionally safe. This may in particular be understood as meaning that the availability of the first sensor unit is ensured permanently during the operation of the soil cultivation device. The signals or data provided by the first sensor unit may be regarded as trustworthy by the control unit, irrespective of whether the result of the calculation of the first pose may be erroneous or not. The first sensor unit may be designed to meet the requirements of a functional safety standard, such as the standard

ISO 13849.

In particular, in combination with the last-mentioned advantageous embodiment, it is advantageous if the first sensor unit is designed for the incremental determination of the first pose. The first sensor unit is, for example, designed to be relatively measuring and is considered to be functionally safe, the first pose being successively updated.

In an advantageous embodiment, the first sensor unit associated with the drive wheels each comprises a Radencoder, on the basis of whose signals an odometric pose can be determined. Revolutions of the drive wheels can be registered via the wheel encoders, from which the control unit can determine the distance covered, the path length and direction changes to determine the first pose. Such a first sensor unit, whose signals are reliably and permanently available, can be regarded as functionally safe by the control unit.

It can be provided that a speed of the soil cultivation device can be determined by the control unit on the basis of the signals of the wheel encoders and, based on the change of the actual pose, a speed of the soil cultivation device can be determined over time. The results of both speed calculations can be testable for agreement in order to obtain a statement about the reliability of the pose determination.

In a corresponding manner it can be provided that a rate of rotation of the soil cultivating device about a vertical axis can be determined by the control unit on the basis of the signals of the wheel encoders and, based on the change in the orientation of the actual pose with time, a rate of rotation of the soil cultivating device about a vertical axis can be determined. The results of both rotation rate calculations can be checked for consistency. Alternatively or additionally, the rotation rate can be determined, for example, by means of an inertial sensor system and included in the check.

In an advantageous implementation of the cultivator, it can be provided that the first sensor unit is a sensor unit for analyzing an optical flow or a sensor unit with inertial sensor technology or to summarizes. Such sensor units can also be regarded as functionally safe.

In particular, when the first sensor unit is considered to be functionally safe, a functionally non-safe sensor unit can be used as the second sensor unit. The requirements for the second sensor unit can be reduced in this way, whereby, by checking the first pose and the second pose for deviation with the associated determination of the uncertainty zone, the operational reliability of the soil processing device is guaranteed. In particular, a cost-intensive second sensor unit as mentioned above can be saved for the determination of the pose. It is possible that a third-party proprietary, non-certified or non-certifiable sensor unit will be used.

The second sensor unit is therefore considered to be functionally non-safe, for example, because there may be the possibility that signals or data are at least temporarily unavailable during operation of the soil cultivation device. For example, in the case of an optical second sensor unit, the reason for this may be that landmarks in the room can not be seen or detected temporarily. Nevertheless, it can nevertheless be provided that the second pose can be determined with high accuracy.

In an advantageous embodiment, landmarks of the room can preferably be detected by the second sensor unit and assigned to determine the second pose stored in the map landmarks. By identifying the landmarks, the control unit can calculate the second pose.

The second sensor unit is preferably designed as an optical sensor unit. In particular, it can be provided that the optical sensor unit detects landmarks by means of a light-section method. For example, a light cell-emitting light source is provided, such as a laser light source. Scattered light can be detected and used to identify landmarks in the room. The optical sensor unit preferably allows calculation of the second pose with high absolute accuracy, however, availability may be temporarily limited by the fact that landmarks to be detected can not be seen by the sensor unit.

It can be provided that the second sensor unit is or comprises a radar sensor unit or an ultrasound sensor unit. A deviation of the first pose and the second pose from one another is preferably ascertainable in that the control unit brings the position and orientation of an expected landmark on the first pose into coincidence with a landmark, which landmark is used to determine the second pose. For example, the procedure is such that a landmark anticipated on the first pose is computationally corrected by displacement and / or rotation by the control unit and brought into coincidence with the landmark detected by the second sensor unit. The displacement vector calculated in this case can be defined as the spatial distance of the first and the second pose from each other. The angle of the twist can be seen as a difference in the orientation of the first and second pose.

In controlling the movement of the cultivator, the actual pose, for example, the first pose or the second pose or a pose calculated therefrom, may be assumed.

In an advantageous implementation, provision may be made for the control unit to assume the position of the first pose for the actual pose on which the further control of the movement is based. For example, the position of the first pose is determined on the basis of a functionally safe system (for example, as an odometric pose), the position determination being regarded as reliable. This position is used as the basis for the control of the movement.

In an advantageous embodiment it can be provided that the orientation of the tillage device of the second Pose for the actual pose is assumed by the control unit, which is based on the further control of the movement. For example, the orientation of the second pose of an optical second sensor unit is regarded as trustworthy and is based on the control of the movement. This can be true even if the second sensor unit is assumed to be functionally non-safe. Advantageously, the uncertainty zone is at least as large as the soil tillage implement. A restriction of movement can thus take effect in this way at the latest when the harrow reaches a restricted area.

The size of the uncertainty zone is advantageously determined based on the spatial distance of the first pose and the second pose from each other. The control unit can calculate how far the poses are from each other. This distance can be considered as a criterion of the indeterminacy of the actual pose.

The uncertainty zone is formed in an advantageous embodiment as a circle or as a sphere, with the actual pose as the center. It can be assumed that the actual pose is regarded as the center or center of gravity of the tillage implement.

In an advantageous embodiment, the signals of at least one sensor unit can be evaluated redundantly by the control unit and can be tested for conformity with one another. For example, signals from Radencodern the first sensor unit are evaluated redundantly, the control unit checks the results for consistency and plausibility. In the event of any deviation, re-referencing of the tillage implement may be required or the tillage implement may be stopped because the sensor unit signals are considered untrustworthy.

The restriction areas to restrict the movement of the harrow can be configured differently.

For example, a prohibition area is provided as the restriction area, with which a stop of the soil cultivation device is linked as movement restriction. When contacting or cutting the uncertainty zone with the Prohibition area stops the harrow. In particular, it can be provided that any further movement of the soil cultivating device is prohibited, both in the direction of the prohibited area and away from it.

In the case of a stop, it is possible to provide an indication of this fact to an information unit for an operator of the soil cultivation device. The reference unit is arranged, for example, externally to the autonomous soil processing unit and can be carried, for example, by an operator. Also, a reference unit on the harrow can be provided. The operator can take measures to restart the soil tillage implement.

As a restriction area, a deceleration area can be provided, with which a slowing down of the ground processing device is linked as movement restriction. It can be provided that a deceleration is only to be carried out in the case of movements in the direction of the deceleration area, but not in the case of a movement away from the deceleration area. Alternatively, a lump-sum slowdown of the soil cultivation device can be provided.

A restriction-restricted area can be provided as the restriction area, with which the specification for the ground-processing device is linked as a movement restriction to move away from the restriction area. Upon contact or intersection of the uncertainty zone with the restricted area, the soil cultivator continues to be able to move. However, the directions of movement are limited in that movement must take place away from the directionally restricted area.

A return area can be provided as a restriction area, with which as a movement restriction the specification for the soil cultivation device is linked to move back to a referencing device, to refer back to. A contact or a cut of the uncertainty zone with the return area can be regarded by the control unit as a request to move to the referencing device, preferably slowed down. The return area, as well as the directional area, preferably precedes the prohibition area in order to avoid an intervention of the uncertainty zone in the prohibition area as far as possible.

It is favorable if travel directions permitted by the control unit for moving the ground processing device away from the restriction area can be determined as a function of a section of the uncertainty zone with the restriction area. For example, depending on the extent to which the uncertainty zone intersects or overlaps the restriction area (in particular the directionally restricted area and / or the return area), an allowed direction of travel can be determined. The greater the extent of overlap with the restriction region, the closer the directional region in which movement of the soil cultivating device may be away from the restriction region is preferably narrower.

Conveniently, a prohibition area is at least partially surrounded by a return area to avoid retraction of the soil cultivation device in the prohibition area as far as possible.

In a corresponding manner, it is advantageous if a return area is surrounded at least in sections by a slowdown area and / or by a direction-restricted area. In this way, possibly a retraction into the return area can be avoided, combined with a consequently required movement to the referencing device.

It can be provided that a direction-limited area is provided as the restriction area, with the movement being limited by driving through the soil-working device in a predetermined direction is linked. For example, for safety reasons, entry into this directionally restricted area is prohibited in at least one direction, whereas driving in a direction that is different in direction is permitted or mandatory.

It is advantageous if, in the presence of two or more restriction regions, the movement of the soil cultivating device is controllable in such a way as to cumulatively fulfill the movement restrictions associated with both restriction regions. In practice, it could occur that the uncertainty zone has contact with or intersection with two restriction areas. This may result in stopping the tillage implement even if it is two restricted areas, with the requirement that the tillage implement must move away from the respective restriction area, with simultaneous fulfillment However, both specifications are not possible.

The possibility of a referencing device has already been considered. In an advantageous embodiment it can be provided that the tillage device is activatable by the control unit to move to a reference device in order to re-refer if the size of the uncertainty zone is a threshold value exceeds. Alternatively or additionally, the above may be necessary if a change in size of the safety zone is above a threshold value depending on the traveled route of the tillage implement, wherein the route is determined by the control unit, in particular based on signals from Radencodern the tillage equipment. If the uncertainty zone becomes so large, or if the size of the uncertainty zone changes excessively depending on the route, the control unit can no longer consider the pose detection to be sufficiently reliable. In this case a new referencing of the pose may be necessary. For this purpose, the referencing device is provided. Accordingly, at least one referencing device can be associated with the soil cultivation device and information about its pose can be stored in the map, wherein the control unit considers an interaction with the referencing device as a valid reference for the pose of the soil cultivation device. In the map and correspondingly in real space, the pose of the referencing device is considered to be one-to-one. When interacting with the referencing device, the control unit is therefore aware of the pose of the soil cultivation device from which the operation can be started or continued.

An inventive soil cultivation system may be provided which comprises a cultivator of the type described above and below and at least one referencing device.

For example, a docking station can be provided as the referencing device with which the soil cultivation device interacts by mechanical docking detectable by the control unit. In the docked state, for example, electrical energy from the docking station and / or a consumable for the soil cultivating device can be provided, for example a cleaning fluid for the cultivator.

Alternatively or additionally, a unique pattern arranged or formed on the base surface can be provided as a referencing device, with which the soil cultivation device interacts by driving over, the texture of the pattern being detectable by the soil cultivation device by means of a sensor unit and can be checked by the control unit. For example, the pattern is formed by protrusions and / or depressions on the bottom surface and can be tactually detected by a wheel of the soil cultivating device. Shocks are evaluated to identify the pattern. The location and orientation of the pattern can be used as a valid reference for the pose. In a similar manner, an alignment element can be provided as the referencing device, relative to which the soil cultivation device interacts by assuming a desired pose. For example, the alignment element comprises or forms a depression on or in the bottom surface, into which the soil preparation device engages with a wheel in a defined orientation. The position of the depression can be used in combination with the orientation of the soil cultivation device required for the intervention to define a unique valid reference for the pose.

It is expedient if the harrow can be moved over the ground surface along a predetermined route or drive pattern. By way of example, a meander-shaped movement of the soil cultivation device takes place, in particular along a rectangular meander.

As mentioned at the outset, the harrow can be a soil cleaning device, wherein the harrow is a bottom cleaning aggregate.

The floor cleaning device may be, for example, a scrubber-drier.

The following description of a preferred embodiment of the invention is used in conjunction with the drawings for a more detailed explanation of the invention. With the soil cultivation device according to the invention, a method according to the invention can be carried out. Show it :

FIG. 1 is a schematic view of a space to be worked with a soil cultivating device arranged therein (FIG. 1, top) and, schematically, a map of the space (FIG. 1, bottom);

FIG. 2 shows a schematic block diagram of the soil cultivation device from FIG. 1; Figure 3: a space to be processed with a permitted area and a prohibited area for the tillage implement;

Figure 4: the harrow schematically with various types

Restriction areas within a space to be machined;

Figure 5: the harrow schematically with various types

Restriction areas within a space to be machined;

Figure 6: the harrow schematically with various types

Restriction areas within a space to be machined;

Figure 7: the harrow schematically with various types

Restriction areas within a space to be machined;

FIG. 8 shows a sequence of three schematic representations, which show a docking of the soil cultivation device at a docking station; and

FIG. 9 shows a side view of the soil cultivating device and a top view of this when driving over a defined pattern, as well as a signal detected when driving over the pattern.

The drawing shows a preferred embodiment of a soil cultivation device according to the invention, which is generally designated by the reference numeral 10. The soil cultivation device 10 is designed as a floor cleaning device and self-propelled and self-steering to make an autonomous cleaning of a bottom surface 12 of a room 14. As can be seen in particular from FIG. 2, for operation on the floor surface 12, the ground-working device 10 comprises a running gear 16, which has two drive wheels 20 which can each be driven by means of a drive device 18. The chassis 16 may further include a non-driven wheel, such as a steering roller 22nd

The drive devices 18 can be actuated by a control unit 24 of the soil treatment device 10. The control unit 24 is implemented, for example, via hardware and / or software and coupled to a memory unit 26. The memory unit 26 may alternatively be included in or integrated in the control unit 24. In the memory unit 26, a card 28 of the space to be cleaned 14 is stored.

To clean the bottom surface 12, the soil cultivating device 10 comprises at least one cultivating unit, in particular a cleaning unit 30. This is, for example, a cleaning head with at least one roller or brush for cleaning the bottom surface 12. Further, as cleaning unit 30, for example Schmutzaufnahme- device for receiving cleaning fluid and dirt from the bottom surface 12 be present. The cleaning unit 30 is in operative connection with the control unit 24.

The cultivator 10 may be designed according to the above, for example as a scouring suction machine. Such a scrubber-drier may in practice have a not inconsiderable weight of more than 100 kg, whereby delays and changes of direction require a minimum distance and a minimum reaction time. It is therefore desirable that the harrow 10 has a high operational safety and is designed so that the control of the movement is performed in accordance with safety regulations.

FIG. 1 schematically shows, in the upper illustration, the space 14 in which the soil cultivating device 10 preferably follows a planned route 32 moves. The travel path 32 is, for example, meander-shaped, in particular according to a rectangular meander. In the present case, the soil treatment device 10 starts the operation starting from a docking station 34, which serves, for example, for providing electrical energy and a cleaning liquid for the soil cultivation device 10.

The space 14 has characteristic landmarks, of which presently two landmarks 36 are shown schematically. In addition, a restriction area 38 is defined for the room. The restriction region 38 is a section of the space 14 which, for safety reasons, should not or should not be used by the soil treatment device 10. For example, this serves to avoid a risk of falling for the tillage device 10. It is also conceivable that the load capacity of the floor surface 12 in the restriction area 38 is insufficient, or that the floor quality at the restriction area 38 is not designed for processing by the soil cultivation device 10.

Within the real space 14, the harrow 10 takes a real pose. In the present case, the pose is defined as the position of the ground-handling device 10 and its orientation relative to a reference direction. For example, a Cartesian coordinate system with an x-axis and a y-axis, which is shown in the lower right corner of room 14, is used for the position, although other types of coordinate systems can also be used. The orientation takes place by determining a longitudinal direction of the cultivator 10 with respect to the reference direction, which in the present case runs along the y-axis or parallel to it, for example. The orientation angle is marked with a.

The location of the actual pose of the tillage implement 10 within the space 14 is indicated by a point 40.

Shown in Figure 1 below is the card 28 of the room 14. For the sake of simplicity, features of the space 14 in the card 28 are shown with identical reference numerals. Also within the card 28, a pose of the tillage implement 10 is defined, for simplicity also the Cartesian coordinate system with the axes x, y and the orientation is used with the angle a. For the definition of the pose, however, a different determination of the coordinates and the orientation of the space 14 can be used in the map 28.

The card 28 forms the space 14 so that poses within the space 14 correspond to poses in the card 28.

In controlling the movement of the cultivator 10, the drive means 18 are controlled so that the respective drive wheels 20 rotate at a predetermined speed and / or perform a predetermined number of revolutions. As such, it is possible to predefine the route covered by the soil cultivation device 10, including changes in direction that have taken place, so that the actual pose 40 can be determined exactly at a later point in time. In practice, however, the calculated actual pose of the cultivator 10 differs therefrom, for example, in that wheel slip occurs between the drive wheels 20 and the bottom surface 12. Even if the circumference of the drive wheels 20 deviates, albeit only slightly, from one another, or if a foreign body adheres to a drive wheel 20, this can lead to deviation of the soil cultivation device 10 from the desired travel path 32.

In order to determine the pose of the soil cultivation device 10, this has in the present case a first sensor unit 42 and a second sensor unit 44. It can be provided that the control unit 24 is part of the first sensor unit 42 and / or the second sensor unit 44, or vice versa.

The first sensor unit 42 includes the drive wheels 20 each associated with a Radencoder 46 which is coupled via a signal line 48 to the control unit 24. Signals of the Radencoder 46 can to the control unit 24th be transmitted. In the present case, a redundant evaluation of the signals of the Radencoder 46 by two computing units 50, 52 included by the control unit 24 takes place. Each arithmetic unit 50, 52 are fed signals of both Radencoder 46.

Based on each arithmetic unit 50, 52, an odometric pose of the soil cultivation device 10 can be determined. The position of the odometric pose is indicated in FIG. 1 in the map by the reference numeral 54. The redundant evaluation via both arithmetic units 50, 52 is used to check the signals of the Radencoder 46 to match, to make a more reliable indication of the odometric pose 54, which is referred to herein as the first pose.

Due to the limitations mentioned, such as wheel slip or deviation of the diameters of the drive wheels 20, it is in practice likely that the odometric pose 54 will deviate from the actual pose 40 (or its image in the card 28). In the map 28, the dashed contour line 56 indicates the position and orientation of the cultivator 10, determined by the odometric pose 54. It can be seen that the contour line 56 deviates from the actual contour 58 of the soil cultivating device 10 when it is inserted into the card 28 is transmitted.

The first sensor unit 42 is considered by the control unit 24 to be functionally safe. During operation of the cultivator 10, signals from the Radencoder 46 are available. The sensor unit 42 is relatively measuring and designed for the incremental determination of the odometric pose 54.

To increase the reliability, the harrow 10 has the second sensor unit 44. The second sensor unit 44 is presently an optical sensor unit. This detects characteristic landmarks 36 of the space 14 whose counterparts are stored in the map 28. By comparing the acquired and stored information, the control unit 24 can determine a second pose for the soil cultivation device 10. The location The second pose, or optical pose, is identified in the card 28 by the reference numeral 60. A dotted contour line 62 in the map 28 symbolizes the position and the orientation of the soil cultivation device 10, determined on the basis of the second pose 60.

Also signals of the sensor unit 44 are transmitted via signal lines 64 to both arithmetic units 50, 52 and evaluated redundantly by them. A check for agreement for reliable indication of the second pose 60 can thereby be made.

Due to the finite precision of the second sensor unit 44, a deviation of the actual pose 40 or its image in the card 28 and the second pose 60 may occur. Although this deviation can be reduced by using a costly optical system. However, such cost-intensive optical systems are offered, for example, by third-party suppliers, deviating from the manufacturer of the cultivator 10 or its operator, and therefore reservations about the reliability of the optical system may be present. It is also conceivable that a sensor unit 44 of a third party provider is not certified and for this reason a review of the second pose 60 is desired.

In the present case, the second sensor unit 44 is functionally not safe. Although the second sensor unit 44 is designed absolutely measuring, wherein the absolute determination of the second pose 60 can be done with high accuracy, however, signals of the second sensor unit 44 are not always available, because, for example, landmarks 36 may be hidden, so a Poose determination on the second sensor unit 44 is not possible.

To increase the reliability, the control unit 24 therefore checks the second pose 60 for plausibility on the basis of the first pose 54. By this, it can also be understood here that the poses 54 and 60 are checked for deviation from one another or, conversely, for coincidence with one another. For example, a transformation of the pose 54 is performed such that an expected landmark 36, when viewed from the pose 54, is brought to cover the landmark 36 by a displacement and / or twist used to detect the second pose 60. The respective transformation (delta transformation) provides a measure of the spatial deviation Dc, Dg as well as the deviation Da of the orientations of both poses 54, 60 from each other. These deviations can be used by the control unit 24 as a criterion for the accuracy, or inaccuracy, of determining the poses 54, 60.

The tillage implement 10 can determine an actual pose from both poses 54, 60. The actual pose is given, for example, by the position of the first pose 54, which is considered trustworthy, and the orientation of the second pose 60, which is considered trustworthy.

The result of checking the poses 54, 60 for deviation leads the control unit 24 to an uncertainty zone, in which the card 28 is identified by the reference numeral 66. The uncertainty zone 66 is shown as a circle with the actual pose as the center whose location information is given by the first pose 54. The radius of the circle is given for example by the spatial distance of the poses 54 and 60 from each other (different from the schematic representation of the drawing).

The tillage implement 10 assumes in the present case that the position can only be determined with an accuracy within the uncertainty zone 66. The position of the cultivator 10 is therefore regarded by the control unit 24 as having a certain uncertainty, the size of which is given by the radius of the uncertainty zone 66. For the control of the movement of the cultivator 10, the uncertainty zone 66 is used, as explained below, in order to control the movement of the soil tillage implement 10. Restriction, which is associated with a respective restriction area 38 to ensure.

An example of an application of the soil cultivating device 10 is shown schematically in FIG. 3, which represents a complex space 14 with space sections 68 and 70. The room section 68 is marked with a bar pattern 72, which is intended to represent that the room section 68 is a "permitted" room section which can be driven by the soil cultivating device 10 and which is not subject to any movement restrictions.

The room section 68 is adjoined by a room section 70, for example a corridor which is marked as "permitted" only in the end section adjoining the room section 68. In the space section 70, infrastructure facilities in the form of escalators 74 are present which, for reasons of safety, may not be traveled by the floor processing device 10. The area in front of this is a restriction area 38, in particular marked as prohibition area 76, on the basis of a cross pattern 78.

In the example of FIG. 3, the prohibition area 76 is surrounded by a restriction area 38 in the form of a return area 80, characterized by a dot pattern 81. If the uncertainty zone 66 intervenes in this return area 80, the soil cultivation device 10 moves back to the docking station 34 to refer back to.

FIGS. 4 to 7 comprise further representations of restriction areas 38 of different types, by means of which the movement restrictions for the soil cultivation device 10 associated with these restriction areas 38 are explained below.

FIG. 4 shows a restriction area configured as a deceleration area 82 provided with a honeycomb pattern 84. In addition, FIGS. 4 to 7 each show a prohibition area 76 with cross pattern 78 surrounded by a return area 80 with dot pattern 81 which is respectively surrounded by a directionally limited area 86 which is patternless.

In the example of FIG. 4, the uncertainty zone 66 intersects the deceleration region 82. The movement of the soil cultivation device 10 is not stopped. However, the travel of the soil cultivating device 10 is slowed down in accordance with the movement restriction.

FIG. 4, like FIGS. 5 to 7, shows a ring scale 88. The ring scale 88 symbolizes in an illustrative manner the effect that a particular movement restriction has on the movement of the soil cultivation device 10. The ring scale 88 shows permitted and forbidden directions of travel of the ground processing device 10, aligned with its longitudinal direction.

In the example of FIG. 4, the honeycomb pattern 84 over the entire circumference of the ring scale 88 symbolizes that movement of the cultivator 10 in each direction is permitted, but at a reduced rate.

The position of the prohibition area 76, the return area 80 and the directionally restricted area 86 in FIG. 4 have no influence on the movement of the soil cultivating device 10 due to the respective distance from the uncertainty zone 66.

In contrast, in the example of FIG. 5, the uncertainty zone 66 intersects the prohibition area 76, the return area 80, and the deceleration area 82. The movement restriction associated with the prohibition area 76 is that the harrow 10 is to be stopped , For this reason, the harrow 10 is stopped, the ring scale 88 symbolized by the cross pattern 78 over the entire circumference that a further journey is not possible. An operator can via a hint unit, such as an external accessory, via the stop of the tillage implement 10. Alternatively or in addition, an indication unit 90 can be arranged on the soil cultivation device 10 (FIG. 2).

In the example of FIG. 6, the uncertainty zone 66 intersects only the directionally restricted area 86 and the return area 80, but not the prohibition area 76.

Associated with the restricted area 86 is the movement restriction that the harrow 10 must move away from the restricted area 86. As already explained above, the movement restriction is associated with the return area 80, so that the soil cultivation device 10 must re-reference itself. This is done by returning to the docking station 34.

Depending on the intersection of the uncertainty zone 66 with the areas 82 and 86, the control unit 24 can determine permitted directions of travel. For this purpose, for example, the following procedure can be used: the point 92 of the greatest distance of the uncertainty zone 66 in the return region 80 from the outer edge of the outermost restriction region 38 (in this case the direction-limited region 86) is determined, and also points of intersection 96, 98 of the uncertainty zone 66 with the edge of the outermost restriction area 38.

In this way, an angle 100 can be defined with the point 92 as a vertex, starting from the legs 102, 104 through the intersections 96 and 98, respectively.

The direction in which the harrow 10 must move away from the restriction areas 38 must be within the angle 100. Due to the fact that the determination of the orientation of the actual pose is erroneous (symbolized by the three "directional angles" in the ring scale 88), the soil cultivating device 10 preferably limits the angle 100 to an angle of lesser extent 106. The uncertainty in determining the orientation of the pose is in the ring scale 88, respectively marked as a white area between the legs of the angles 100 and 106. The area marked with the honeycomb pattern 84 symbolizes that the harrow 10 is allowed to move in a direction of travel within the angle 106, but only at a reduced speed. The cross pattern 78 symbolizes that movement outside of the angle 100 is prohibited.

FIG. 7 symbolizes how restrictions on movement of different restriction areas 38 must be met cumulatively. In FIG. 7, in addition to the three restriction regions 38 already mentioned above, three further restriction regions 38 are shown, namely another prohibition region 76, a return region 80 surrounding it and a directionally restricted region 86 surrounding it. The soil cultivation device 10 is between the three restriction regions 38 arranged.

The uncertainty zone 66 intersects the upper direction-limited area 86 in the drawing. In this case too, the angle is 100 and the

Leg 102, 104 shown, wherein the movement of the soil cultivation device 10 may take place only within a direction of travel of the angle 100, i. in the drawing "down".

However, cumulatively, the movement restriction that occurs due to the fact that the uncertainty zone 66 additionally intersects the return region 80 and the direction-restricted region 86 that is lower in FIG. In accordance with the manner explained above, the control unit 24 calculates an angle 108 between legs 110, 112 at which angle 108 the direction of travel for the cultivator 10 is allowed to point away from the lower prohibition area 76 shown in FIG.

Since the angles 100 and 108 have no overlap in the present case, the permissible movements for the cultivator 10 are such that, as a result, the two movement restrictions can not be met cumulatively. The consequence is that the soil cultivation 10 must be stopped. The ring scale 88 provided with the cross pattern 78 in FIG. 7 clarifies this.

Driving the tillage implement 10 back to the docking station serves to re-referencing the tillage implement 10. The docking station 34 is therefore also referred to as the referencing device 114. The pose of the referencing device 114 is known to the control unit 24. By interaction with the docking station 34, for example mechanical coupling, the soil cultivation device 10 can assume the pose of the docking station 34. When recording or continuing the operation, the pose can be determined with increased accuracy. Accordingly, the referencing device 114 serves as a valid reference for the pose of the soil treatment device 10.

FIG. 8 shows in three top-down successive symbolic representations how the soil cultivation device 10 docks to the docking station 34. This is associated with a defined position and orientation. In the docked state, the control unit 24 take over the pose of the docking station 34.

FIG. 9 shows in a side view and in a view from above the soil cultivating device 10 when interacting with another referencing device 116. The referencing device 116 comprises a unique pattern 118 formed on the bottom surface 12 by elevations Traversed soil cultivation device 10 (arrow 120). A sensor unit 122, which detects vibrations of the steering roller 22, can transmit a relevant time-dependent signal 124 (shown below in FIG. 9) to the control unit 24 when it passes over the pattern 118.

Since the pose of the pattern 118 of the control unit 24 is known, it can assume the pose of the pattern 118 as a valid reference when the signal 124 is identified. FIG. 9 also schematically shows a further referencing device 126. The referencing device 126 comprises an alignment element 128, here formed in the form of a depression 130 on the bottom surface 12. The depression 130 serves to receive the steering roller 22, whereby driving in at For example, only one direction is possible, defined by an arrow 132nd

The arrangement of the steering roller 22 in the depression 130 can be determined by the control unit 24. Since the control unit 24 is aware of the pose of the depression 130, this pose can be taken over by the soil cultivation device 10 as a valid reference.

LIST OF REFERENCE NUMBERS

10 soil cultivator 12 soil surface

14 room

16 suspension

18 Drive device 20 Drive wheel

22 swivel castor

24 control unit

26 storage unit

28 card

30 Cleaning unit 32 Driveway

34 docking station

36 Landmark

38 restriction area 40 real pose

42 first sensor unit 44 second sensor unit 46 Radencoder

48 signal line

50, 52 arithmetic unit

54 first pose

56 Contour line dashed 58 Contour

60 second pose

62 Contour line dotted 64 Signal line

66 Uncertainty Zone 68, 70 Room Section

72 bar pattern

74 escalator prohibited area

Crisscross

Return area

Dot pattern

deceleration area

honeycomb

Directional area Ring scale

Note unit

Point

, 98 intersection

0 angle

2, 104 thighs

6, 108 angles

0, 112 thighs

4, 116 referencing device 8 pattern

0 arrow

2 sensor unit

4 signal

6 Referencing device8 Alignment element

0 deepening

2 arrow

Claims

1. Self-propelled and self-steering tillage implement, comprising a cultivating unit (30) for processing the floor surface (12), a control unit (24), a storage unit (26) in which a card (28) of a space to be processed (14 ), wherein in the card (28) at least one restriction area (38) is associated, which is associated with a movement restriction for the tillage device (10) in space (14), a chassis (16) with drive wheels ( 20) and associated therewith drive means (18), which are coupled to the control unit (24) to control the movement of the ground processing device (10) via the bottom surface (12) on the basis of the card (28), a first sensor unit (42 ) and a second sensor unit (44), each coupled to the control unit (24), wherein from the control unit (24) based on signals of the first and the second sensor unit (42, 44) a first pose (54) and a second pose (60) of the Bod a verifi- cation of the poses (54, 60) can be carried out and that, as a result of the checking, an uncertainty zone (66) for the actual pose of the soil cultivation device (10) can be determined, wherein the movement of the cultivator (10) is limited in contact or cut the uncertainty zone (66) with the at least one restriction area (38) corresponding to the movement restriction.

2. Soil cultivation device according to claim 1, characterized in that the respective pose (54, 60) a location information for the Bodenbearbei- device (10) in at least two dimensions and an orientation information for the soil cultivation device (10).

3. Soil cultivation device according to claim 1 or 2, marked thereby, that the verification of poses (54, 60) to deviation during the current operation of the soil cultivation device (10) is feasible.

4. Soil cultivation device according to one of the preceding claims, characterized in that the first sensor unit (42) by the control unit (24) is considered to be functionally safe.

5. Soil cultivation device according to one of the preceding claims, characterized in that the first sensor unit (42) for incremental determination of the first pose (54) is formed.

6. Soil cultivation device according to one of the preceding claims, characterized in that the first sensor unit (42) associated with the drive wheels (20) each comprise a Radencoder (46), on the basis of whose signals an odometric pose (54) can be determined.

7. A soil cultivation device according to claim 6, characterized in that from the control unit (24) based on the signals of the Radencoder (46) a speed of the harrow (10) and based on the change of the actual pose with time a speed of the harrow (10) determined and the results of both calculations are verifiable.

8. Soil cultivation device according to claim 6 or 7, characterized marked that by the control unit (24) based on the signals of the Radencoder (46) a rate of rotation of the harrow (10) about a vertical axis and based on the change in the orientation of the actual pose a rate of rotation of the harrow (10) about a vertical axis can be determined over time and the results of both calculations can be checked for conformity.

9. soil cultivation device according to one of the preceding claims, characterized in that the first sensor unit (42) has a Sen- sensor unit for analyzing an optical flow or a sensor unit with inertial sensor is or comprises.

10. Soil cultivation device according to one of the preceding claims, characterized in that a functionally non-secure sensor unit is used as the second sensor unit (44).

11. Soil cultivation device according to one of the preceding claims, characterized in that with the second sensor unit (44) Landmarks (36) of the space (14) can be detected and for determining the second pose (60) in the map (28) stored landmarks (36) can be assigned.

12. A soil cultivation device according to claim 11, characterized in that the second sensor unit (44) as an optical sensor unit (44) is designed, in particular that these landmarks (36) detected by means of a light section method.

13. Soil cultivation device according to one of the preceding claims, characterized in that the second sensor unit (44) is or comprises a radar sensor unit or an ultrasonic sensor unit.

14. Soil cultivation device according to claim 11 or 12, characterized in that a deviation of the first pose (54) and the second pose (60) from each other can be determined by the control unit (24) position and orientation of an expected landmark (36) the first pose (54) coincides with a landmark (36), which landmark (36) is used to determine the second pose (60).

15. A soil cultivation device according to one of the preceding claims, characterized in that the position of the first pose (54) for the actual pose is assumed by the control unit (24), which is used as the basis for the further control of the movement.

16. A cultivation device according to one of the preceding claims, characterized in that by the control unit (24) the orientation of the soil cultivation device (10) of the second pose (60) is assumed for the actual pose, which is based on the further control of the movement ,

17. Soil cultivation device according to one of the preceding claims, characterized in that the size of the uncertainty zone (66) on the basis of the spatial distance of the first pose (54) and the second pose (60) is determined from each other.

18. A soil cultivation device according to one of the preceding claims, characterized in that the uncertainty zone (66) is formed as a circle or sphere, with the actual pose as the center.

19. Soil cultivation device according to one of the preceding claims, characterized in that the signals of at least one sensor unit (42, 44) of the control unit (24) are redundantly evaluated and can be checked for compliance with each other, in particular signals from Radencodern (46) of the first sensor unit ( 42).

20. A soil cultivation device according to one of the preceding claims, characterized in that a prohibiting area (76) is provided as the restriction area (38), with which a stop of the soil cultivating device (10) is linked as movement restriction.

21. A soil cultivating device according to claim 20, characterized in that in the case of a stop on a reference unit (90) a relevant reference for an operator of the soil cultivation device (10) can be provided.

22. A soil cultivation device according to one of the preceding claims, characterized in that a slowing down area (82) is provided as the restriction area (38), with which a slowing down of the soil cultivation device (10) is linked as restriction of movement.

23. A soil cultivation device according to one of the preceding claims, characterized in that a direction-limited area (86) is provided as the restriction area (38), with which the specification for the soil cultivation device (10) is linked as motion restriction, from the Remove restriction area (38).

24. Soil cultivation device according to one of the preceding claims, characterized in that a return range (80) is provided as a restriction region (38), with which the specification for the soil cultivation device (10) is linked as movement restriction, back to a referencing device (114, 116, 126) to re-reference.

25. A soil cultivation device according to claim 23 or 24, characterized in that by the control unit (24) for moving the Bodenbear- processing device (10) away from the restriction area (38) allowed directions of travel depending on a section of the uncertainty zone (66) with the restriction area (38) can be determined.

26. Soil cultivation device according to claim 24 or 25 in conjunction with one of claims 20 to 24, characterized in that a prohibition area (76) is at least partially surrounded by a Rücksendebe- rich (80).

27. A soil cultivation device according to one of claims 24 to 26 in conjunction with claim 22 or 23, characterized in that a return area (80) is at least partially interrupted by a slowdown. is surrounded (82) and / or by a directionally restricted area (86).

28. Soil cultivation appliance according to one of the preceding claims, characterized in that a direction-limited area is provided as the restriction area (38), with which movement as a restriction is linked by the soil cultivation device (10) in a predetermined direction.

29. A soil cultivation implement according to any one of claims 22 to 28, characterized in that in the presence of two or more restriction areas (38), the movement of the harrow (10) is controllable to cumulatively meet the movement restrictions associated with both restraining areas (38) ,

30. A soil cultivation device according to one of the preceding claims, characterized in that the soil cultivation device (10) by the control unit (24) is controllable, to move to a Referenzierungseinrich- device (114, 116, 126) to reference again, if The following applies: if a threshold of the size of the uncertainty zone (66) is exceeded; and / or in the case of a change in size of the uncertainty zone (66) above a threshold value depending on the traveled distance of the soil cultivation device (10), which can be determined by the control unit (24), in particular based on signals from Radencodern (46) of the soil cultivation device (10).

31. A soil cultivation device according to one of the preceding claims, characterized in that the soil cultivation device (10) at least one referencing device (114, 116, 126) is associated and information about their pose is stored in the map (28), wherein the control unit (24) considers an interaction with the referencing device (114, 116, 126) as a valid reference for the pose of the soil cultivation device (10).

32. The soil cultivation device according to claim 31, characterized in that a docking station (34) is provided as the referencing device (114), with which the soil cultivation device (10) interacts by mechanical docking detectable by the control unit (24), in particular for providing electrical energy and / or a consumable.

33. The soil cultivation device according to claim 31 or 32, characterized in that a unique pattern (118) arranged or formed on the bottom surface (12) is provided as the referencing device (116), with which the soil cultivation device (10) passes through Overriding interacts, whereby the nature of the pattern (118) can be detected by the ground processing unit (10) by means of a sensor unit (112) and can be checked by the control unit (24).

34. The soil cultivation device according to one of the preceding claims, characterized in that as the referencing device (126) an alignment element (128) is provided, relative to which the Bodenbearbei- device (10) interacts by taking a Sollpose, in particular that the alignment element (128) a Recess (130) on or in the bottom surface (12) comprises or forms, in which the soil cultivation device (10) engages with a wheel (22) in a defined orientation.

35. Soil cultivation device according to one of the preceding claims, characterized in that the soil cultivation device (10) along a predetermined route or driving pattern on the bottom surface (12) is movable.

36. The soil cultivation device according to one of the preceding claims, characterized in that the soil cultivation device (10) is a floor cleaning device and the soil cultivation unit (30) is a soil cleaning unit.

37. Soil cultivation device according to claim 36, characterized in that the floor cleaning device (10) is a scrubber-drier.

38. A method for operating a self-propelled and self-steering soil cultivation implement, comprising a soil cultivation unit for processing the ground surface, a control unit, a storage unit in which a map of a space to be processed is stored, wherein at least one restriction area is stored in the map, associated with a restriction of movement for the tillage implement in space, a landing gear with drive wheels and associated drive means coupled to the control unit for controlling movement of the tillage implement over the ground surface on the map, a first sensor unit and a second sensor unit, in each case coupled to the control unit, wherein a first pose and a second pose of the tillage device are determined by the control unit on the basis of signals of the first and second sensor units, a check of the poses for deviation is carried out and, as a result of the verification, an uncertainty zone is determined for the actual pose of the harrow, the movement of the harrow being limited upon contact or intersection of the zone of uncertainty with the at least one restriction area corresponding to the restriction of movement.