Ground engaging apparatus for autonomous travel

Abstract

The invention relates to a ground treatment device which travels autonomously, having an electric drive for moving the ground treatment device, an obstacle detection device for detecting obstacles in the environment, a sensor device for detecting parameters of the ground being driven over by the ground treatment device, and an evaluation and control device for creating an environmental map from the detected obstacle data and parameters. In order to investigate further properties of the ground which can advantageously be taken into account when planning the driving strategy of the ground treatment device, it is proposed here that the evaluation and control device is set up to rotate the ground treatment device around a defined position point of the ground, the evaluation and control device is also set up to analyze the parameters detected by means of the sensor device when the ground treatment device is rotated or moved around the defined position point of the ground, and to determine the anisotropy of the parameters of the ground with reference to different spatial directions defined in the environment, and to record the anisotropy in the environmental map with the angular coordinates specified.

Description

Technical Field

[0001] This invention relates to an autonomous ground processing device, comprising an electric drive unit for moving the ground processing device within an environment, an obstacle detection unit for detecting obstacles in the environment, a sensor unit for detecting parameters of the ground traversed by the ground processing device, and an evaluation and control unit for creating an environmental map based on the detected obstacle data and parameters. Background Technology

[0002] Autonomous ground treatment equipment is well known in the prior art. This autonomous ground treatment equipment can be, for example, a cleaning robot, such as a suction and / or wiping robot, a polishing robot, a floor cleaning robot, a weeding robot, etc. The ground treatment equipment has a navigation device for autonomous movement, which includes environmental parameters and stores these parameters in an environmental map. The evaluation and control device of the ground treatment equipment can plan a travel route based on the environmental map, for example, performing ground treatment work along the travel route.

[0003] Furthermore, as is known from existing technology, such floor treatment equipment is equipped with a floor detection device that detects data about the surface to be treated, such as the surface type. Floor treatment equipment equipped as cleaning equipment can, for example, use this detection device to identify whether the equipment is operating on carpet, wood flooring, or tile flooring, and plan the floor treatment work accordingly, particularly controlling the treatment intensity, water application rate, rotational speed of the floor treatment elements, and suction power level of the exhaust fan. For example, a camera is known as a detection device for floor type; the camera, with the aid of an image processing device, identifies the surface structure and classifies it into a specific surface type. It is also known to equip floor treatment equipment with resistance sensors or slip sensors that detect parameters depending on the friction between the floor treatment equipment and the surface to be treated.

[0004] Although it has been confirmed that such ground treatment equipment and ground detection devices are used to identify the type of ground in the environment and mark it accordingly on the environmental map, for example, no further investigation has been conducted into the type of ground in terms of the preferred direction formed by the laying direction of wood flooring or tiles or by the polar direction (Polrichtung) of carpet fibers. Summary of the Invention

[0005] Therefore, based on the aforementioned prior art, the technical problem to be solved by the present invention is to consider other features of the ground in a way that can be advantageously taken into account when planning the driving strategy of ground processing equipment.

[0006] To address the aforementioned technical problem, it is suggested that the evaluation and control device of the ground processing equipment be configured to control the drive device of the ground processing equipment, causing the ground processing equipment to rotate around a defined location point on the ground. Furthermore, the evaluation and control device is configured to analyze parameters detected by sensor devices as the ground processing equipment rotates or travels around the defined location point on the ground, determine the anisotropy of the ground parameters by referring to different spatial directions defined in the environment, and record the anisotropy of the ground parameters in an environmental map given specified angular coordinates.

[0007] According to the invention, the ground treatment equipment now includes a sensor device adapted to detect the directionality of ground parameters. This directionality arises when the ground exhibits different characteristics in different spatial orientations relative to the environment, particularly along directions parallel to the ground. An example of the directionality of ground features is wood flooring, which is better treated along the grain direction of the wood than along directions perpendicular to that grain direction. Another example is tile flooring, where the joint orientation is crucial to the cleaning outcome. However, the parameters of the ground do not necessarily have to concern only the cleaning process; they can simply be those that allow the ground to be driven over particularly easily in a defined direction, i.e., with less frictional resistance than in other directions. The directional characteristics of the ground, i.e., the anisotropy of the ground, can be taken into account when planning the driving strategy of the ground treatment equipment. Preferably, the directionality of the ground features is detected first over the entire ground surface, wherein, preferably, the anisotropy is detected at multiple locations according to the invention. This means that the detection device rotates sequentially around each defined location point in the environment, wherein the evaluation and control device then analyzes the detected parameters and determines the angle-related anisotropy based on each location point. By recognizing the current position and orientation of the ground processing device within the environment or within an environmental map, the overall orientation of the environment within the environmental map can be inferred from the orientation locally defined with reference to the instantaneous position of the ground processing device. This allows measurements detected at different points in the environment to be combined within a common, overall environmental map. Using angular coordinates, preferably polar coordinates, to define the orientation in the environmental map, a recognition mode for ground parameter detection and environmental map generation can be executed. In this recognition mode, the ground processing device navigates the environment without performing ground processing operations and detects ground parameters there, or, if necessary, additionally identifies obstacles present in the environment, also for generating the environmental map. Alternatively, it is feasible to detect ground parameters and, if necessary, obstacle data while performing one or more ground processing operations. In all cases, it is advantageous to note that the ground may also possess anisotropic characteristics that vary with location. For example, this is especially true in natural ground; however, depending on the ground's paving method, features may change from one location to another due to natural textures, knots, seams, etc. Therefore, it is suitable to detect ground parameters according to the invention at different locations on the ground along multiple spatial directions. Detection along different spatial directions can, for example, be omnidirectional detection over a 360-degree field of view around the location. The detection can be continuous or performed only along multiple independent directions, for example, along four directions staggered by 90 degrees. The directions along which the ground parameters are measured can be referenced to fixed points of the ground processing equipment or to a coordinate system of an environmental map.During ground treatment, the evaluation and control devices of the ground treatment equipment can compare the stored anisotropy parameters of the ground with the anisotropy of the corresponding parameters of the currently detected ground. If the currently determined anisotropy differs from the stored anisotropy, this can be assessed, for example, as the presence of dirt on the ground. This information can be output to the user or automatically initiate cleaning of the corresponding area of ​​the ground. If the anisotropy of the ground does not change at all over a longer period of time, this can also indicate that the ground has been worn down by driving. This information can also be conveyed to the user.

[0008] According to the invention, the ground treatment device rotates itself around a defined location point, wherein the ground treatment device rotates 360 degrees around itself. This rotation can also be performed at multiple defined location points in the environment, especially when there is no information regarding whether only one ground type exists on the ground, or whether multiple ground types exist, or whether the ground type itself has non-uniform characteristics. The rotation of the ground treatment device can be clockwise, counterclockwise, or sequentially in two directions over time, depending on whether additional or supplementary information can be obtained along the opposite directions.

[0009] It is particularly recommended that the evaluation and control device be configured to generate an average value of angle-related anisotropy based on multiple probes at different locations in the environment. By generating the average value, multiple probe results determined along the same spatial direction from different locations in the environment can be taken into account. This allows the determination of a spatial direction in the environment along which the ground processing equipment preferably travels, because there are preferred directions for low-friction operation, such as those for the ground processing equipment's movement or ground processing work. Alternatively, local values ​​of anisotropy, rather than the average value, can be stored in an environmental map. This is advantageous, for example, for local point processing of the ground.

[0010] Furthermore, it is recommended that the sensor device be configured to detect the power consumption of the drive unit. Specifically, changes in the power consumption of the drive unit can be measured as the floor treatment equipment moves. Depending on the characteristics of the ground, such as when the floor treatment equipment must cross seams or changes direction, causing it to suddenly move against the direction of the carpet pile, the power consumption of the drive unit changes. The ground then exerts a reaction force on the drive unit of the floor treatment equipment, resulting in higher power consumption of the drive motor. Preferably, this can be analyzed to determine the anisotropy of the ground, i.e., to detect the angle-related characteristics of the ground.

[0011] The sensor device can also be configured to detect the power consumption, and in particular, changes in power consumption, of the floor treatment elements that drive the electrically operated floor treatment equipment. These floor treatment elements can be rotary or vibratory driven elements, such as vibrating wipers or rotating brush elements. Alternatively, electrically driven floor treatment elements can be fans, which collect dust from the surface to be cleaned, for example. The power consumption of the drive unit or floor treatment unit can be analyzed as a method for determining the anisotropy of the surface, such as the coefficient of friction. This allows for determining, for each location in the environment, what surface features exist in which direction. The proposed direct detection of power changes utilizes the fact that the power consumption of the driving devices changes when different surface features are present. For example, the power consumption of rollers, brushes, actively driven cleaning pads, and drive wheels changes, as does the power consumption of the fan. The detected measurements can be current, voltage, power, or even phase angle or slippage.

[0012] Furthermore, the sensor device includes a microphone configured to detect noise generated by ground handling equipment as it travels across the ground. This detection method leverages the fact that different frictional characteristics of the ground along different spatial directions produce different noises, because, for example, the wheels of the ground handling equipment must overcome greater frictional resistance along a given direction of travel. The resulting noise may therefore be higher or lower, or have other frequencies. The noise is recorded by the microphone and then analyzed by an evaluation and control device with reference to the direction of travel.

[0013] Furthermore, it can be specified that the sensor device is configured to detect the natural vibration of localized areas of the ground processing equipment. In particular, it can detect changes in the natural vibration of localized areas of the ground processing equipment. The sensor device preferably includes an accelerometer and / or a gyroscope. This indirect detection method determines the effect of ground anisotropy on the ground processing equipment during operation or travel. The ground processing equipment typically vibrates to a minimum during travel. The vibration of the ground processing equipment, or individual localized areas of the ground processing equipment, varies due to changes in ground characteristics. These changes can be detected, for example, by means of an accelerometer and / or a gyroscope. The location of the sensor on the ground processing equipment is, in principle, freely selectable, as such vibration typically occurs throughout the ground processing equipment. However, at least one optimal location is always specified, where the vibration occurs or changes particularly strongly. Those skilled in the art can determine the optimal placement of such a sensor on the ground processing equipment.

[0014] All of the aforementioned detection methods can also be combined with other detection methods, such as by additionally capturing camera images that reveal the structure of the ground, particularly its orientation. The evaluation and control device of the ground processing equipment preferably has an image processing program to determine orientation-related features of the ground. Furthermore, it is possible to determine slippage of the drive wheels on the ground along different travel directions of the ground processing equipment or spatial orientations within the environment.

[0015] In particular, the evaluation and control device can be configured to determine a strategy for the movement of the floor treatment equipment within the environment based on the angle-related anisotropy of the obtained parameters of the ground surface. This preferred design determines, according to the defined location point, which direction offers the optimal characteristics for cleaning or movement, for example, the highest intensity, fastest speed, or most energy-efficient movement. For example, the polar direction of the carpet surface, i.e., the preferred direction of the carpet fibers, can be utilized so that the floor treatment equipment preferably moves along that direction. This allows the floor treatment equipment to move with particularly low friction and thus save energy. For example, when the floor treatment equipment performs vacuum cleaning or wiping cleaning of the floor, it is suitable to plan the movement strategy so that the movement and floor treatment work are parallel to the longitudinal extension of the seams, texture, or structure of the floor.

[0016] The evaluation and control device is specifically configured to additionally determine a travel strategy based on the type of ground treatment work performed during travel, characterized by one of the following parameters: the intensity of ground treatment, the speed of ground treatment, the consumption of consumables during ground treatment, the wear and tear on the ground caused by ground treatment, and the energy consumption during ground treatment. The travel strategy or ground treatment strategy of the ground treatment equipment is thus determined based on ground features stored in an environmental map. The most suitable strategy for the corresponding situation is determined here. This strategy may be a cleaning mode, which requires a determined cleaning power, a determined water consumption, a determined energy consumption, a determined cleaning time, etc. This advantageously allows the equipment to traverse the ground in the direction most favorable for the desired ground treatment or travel. It is possible to work, on the one hand, through determined directional ground features, or alternatively or additionally, through local ground features. This generally determines the travel strategy for the ground treatment equipment, especially the travel direction, along which optimal ground features exist. Conversely, it is also possible to adapt the travel or ground treatment work according to the travel direction by changing the characteristics of the ground treatment equipment itself, for example, changing the engine power or the compressive force applied to the ground. Similarly, it can be adapted to factors such as the amount of liquid applied to the ground, the temperature of the cleaning material, the rotational speed of the cleaning element, and the vibration frequency of the vibrating wiping element. Furthermore, it can be adapted to driving characteristics, such as speed. Attached Figure Description

[0017] The present invention will now be described in detail with reference to the embodiments. In the accompanying drawings:

[0018] Figure 1 The ground treatment device according to the invention is shown at a location in the environment.

[0019] Figure 2 An environmental map is shown, which includes a plan view of the environment and marked locations within it.

[0020] Figure 3 The spiral trajectory according to the first embodiment is shown.

[0021] Figure 4 The diagram illustrates a spiral-shaped travel trajectory according to another embodiment.

[0022] Figure 5 An environment map is displayed, which contains travel trajectories stored in it at different locations.

[0023] Figure 6 The environment map is displayed, which has stored direction parameters and planned processing paths. Detailed Implementation

[0024] Figure 1First, an exemplary autonomous ground handling device 1 is shown, which is designed here, for example, as a cleaning robot. Ground handling device 1 has a drive unit 2 in the form of an electric motor for motor-driven wheels 13. The electric motor and other power consumption devices of ground handling device 1 are powered by an energy storage device, in particular a battery, not shown here. Ground handling device 1 also has an obstacle detection device 3 configured to detect the distance to obstacles 4 present in the surrounding environment of ground handling device 1. Here, obstacle detection device 3 is, for example, an optical ranging device in the form of a laser triangulation device. Obstacle detection device 3 emits, for example, a laser beam rotating around 360 degrees, which strikes an object and is reflected from it. The distance of ground handling device 1 relative to obstacle 4 can be inferred from the reflected beam. The detection signal from obstacle detection device 3 is processed into an environmental map 8 by means of an evaluation and control device 7 of ground handling device 1. The environmental map contains a plan view of the environment, which has the obstacles 4 stored therein and the current position of ground handling device 1 at location point 9. The ground treatment device 1 also includes a ground treatment element 12, for example, a brush roller that rotates about a substantially horizontal axis, for treating the ground 6 of the environment. The ground treatment element 12 is also equipped with an electric motor (not shown) for driving the ground treatment element 12. Furthermore, the ground treatment device 1 has a sensor device 5 designed and configured to detect parameters of the ground 6 being traveled by the ground treatment device 1. The sensor device 5 is, for example, associated with a drive unit 2 of wheels 13. The sensor device 5 detects the power consumption of the drive unit 2 or changes in power consumption and can deduce one or more parameters of the ground 6 accordingly. The evaluation and control device 7 of the ground treatment device 1 uses an environmental map 8 to plan the processing path 14 of the ground treatment device 1.

[0025] Now according to Figures 2 to 6 This invention will be described in detail.

[0026] In order to detect the parameters of the ground 6 in the environment and thereby improve the information stored in the environment map 8, a processing path 14 is planned based on this information. The evaluation and control device 7 of the ground processing device 1 is configured to control the ground processing device 1 along the determined travel trajectory 10 of the ground processing device 1, and the sensor device 5 then detects the parameters of the local area of ​​the ground 6 being traversed along the travel trajectory. Figure 2An environmental map 8 with multiple spaces is illustrated, one of which, for example, has parallel wooden flooring. To obtain information about the direction in which the wooden flooring is laid within the environment, the evaluation and control device 7 controls the drive unit 2 of the floor treatment device 1 such that the floor treatment device 1 rotates itself around three location points 9 (not shown here), for example, the corresponding location points. The rotation is performed clockwise only, for example, but alternatively or additionally, counterclockwise. As the floor treatment device 1 rotates, the sensor device 5 detects the power consumption of the drive unit 2 for the wheels 13 of the floor treatment device 1. The power consumption is stored here with reference to each location point 9 according to the current rotation angle of the floor treatment device 1 around that location point 9. The evaluation and control device 7 then analyzes the measured power consumption or changes in power consumption based on the corresponding associated rotation angle of the floor treatment device 1 and stores the angle-related anisotropy of the ground 6 measured for the detected "power consumption" parameter. This method allows for the storage of angle-related values ​​of corresponding measurement parameters at each position point 9. Alternatively, in addition to measuring the "power consumption" parameter, other measurement parameters varying according to the characteristics of the ground 6 can also be detected. As an alternative to detecting the power consumption of the drive unit 2 of the wheel 13, the power consumption of the drive unit for the ground processing element 12 can also be observed. The sensor device 5 can also be configured to detect the self-vibration of a local area 11 of the device, which is experienced by the ground processing device 1 or its local area 11 due to rotation around position point 9 and the corresponding angle-related structure of the ground 6. The self-vibration of the local area 11 can be detected, in particular, by an accelerometer or a gyroscope. Although not shown further here, other or additional types of sensor devices 5 can also be used. The sensor device 5 can, for example, have a microphone configured to detect noise generated by the ground processing device 1 as it travels over the ground 6. In this indirect detection method, the self-vibration and / or noise of the ground processing device 1, which occurs during travel or rotation around position point 9 and varies according to the characteristics of the ground 6, are utilized. The location of the sensor device 5 used to detect natural vibration can, in principle, be selected on each local area of ​​the ground processing equipment 1. Based on the construction type of the ground processing equipment 1, technicians have identified a local area 11 of the equipment that is particularly sensitive to changes in the characteristics of the ground 6, that is, a local area 11 of the equipment that shows a change in natural frequency particularly clearly according to the direction of travel of the ground processing equipment 1 on the ground 6.

[0027] The ground treatment device 1 can rotate around position point 9 during the execution of ground treatment work or within the scope of the identified operation. If ground treatment work is performed simultaneously, for example, by using the ground treatment element 12, measurement parameters related to the type of ground treatment work can be used, such as the application of liquid to the ground 6 by the ground treatment device 1, or suction of the ground. Here, not only can the power change of the drive device 2 for the ground treatment element 12 due to the change in the coefficient of friction of the ground 6 be detected in relation to the angle, but also the angle-related absorbency of the ground cover or the permeability of the ground 6 can be detected. Thus, it is possible to additionally determine, based on each position point 9 of the ground 6, ideal parameters for low-friction travel, liquid-saving ground treatment, etc., are possible along which position point 9. This also generates angle-related characteristics based on the position, which provide parameters of the ground 6 with reference to the determined ground treatment work. Based on this, a particularly advantageous travel strategy can be determined for the ground treatment device 1 during the determined ground treatment work. Figure 2 In a specific example, for instance, angle-related characteristics of the ground surface 6 can be generated with reference to each location point 9, the characteristics relating to the movement of the floor treatment device 1 on the ground surface 6 with the lowest possible friction. Since the wood flooring is laid parallel here, for example, the floor treatment device 1 experiences greater resistance as it rotates when the rolling direction of the wheel 13 is perpendicular to the seam extending between the parallel-laid wood floorboards. The frictional resistance is correspondingly lower when the wheel 13 rotates parallel to the longitudinal extension of the wood flooring. Additionally or alternatively, the frictional resistance may also increase when the wheel is perpendicular to the grain of the wood structure. The corresponding angle-related resistance can be perceived due to power consumption or variations in power consumption.

[0028] Based on the anisotropic features of ground 6 at different location points 9, which are angle-related and provide relevant parameters of ground 6, the overall angle-related structure of ground 6 is calculated by recognizing the current positions of ground processing equipment 1 at location points 9 and the various orientations of ground processing equipment 1. This corresponds, for example, to the strip-like structure of laid wooden flooring.

[0029] Figure 3 and Figure 4 Two different types of spiral travel trajectories 10 are shown. As an alternative to rotation, the ground processing device 1 can execute the travel trajectory at position point 9 in order to detect the anisotropic characteristics of the ground 6. Figure 3 It shows a rectangular, spiral-shaped, counter-clockwise trajectory 10, while Figure 4A circular, spiral-shaped clockwise travel trajectory 10 is shown. It is also possible to travel clockwise over a rectangular shape and counter-clockwise over a circular shape. The travel trajectory 10 may include the entire ground 6 or only a defined local area of ​​the ground 6. Alternatively, as... Figure 5 As shown, the vehicle travels along multiple spiral paths 10 around different locations 9 on the ground 6. During travel, the detected values ​​of parameters are measured in relation to various orientation angles of the ground processing device 1, and these parameter detected values ​​can also be averaged for multiple different locations 9 and / or different points on the spiral paths 10.

[0030] like Figure 6 As shown, the angle-related parameters of the ground 6 are marked with direction parameter 15 in the environmental map 8. This direction parameter 15 includes angle data from 0 degrees to 90 degrees and can, in principle, have any starting point; only the starting point located at the corner of the spatial plan is shown as an example. The angle-related parameters shown here correspond to the laying direction of the wood flooring, producing a pattern of strips extending parallel to each other. Each strip extends along a 90-degree direction and indicates the following driving direction or ground treatment direction, along which the ground treatment device 1 can operate particularly energy-efficiently and / or quickly. Perpendicular to this, i.e., along the direction parameter 15 with "0 degrees," the ground treatment or movement of the ground treatment device 1 becomes difficult because the ground treatment device 1 must cross the seams between the parallel-laid wood floors.

[0031] By recognizing the directional parameter 15 marked on the environmental map, the evaluation and control device 7 of the ground processing equipment 1 can then plan a processing path 14 for the ground processing equipment 1, along which the ground processing equipment 1 preferably travels and performs its ground processing work. This processing path 14 is exemplarily described here... Figure 6 The diagram shows the zigzag lines extending in a zigzag pattern, with the larger straight portion of the zigzag lines parallel to the orientation of the wood floor seams. This also corresponds to a direction on the floor 6 in which the floor treatment device 1 can drive or treat the floor 6 with particularly low friction and thus save energy.

[0032] The strategy for the movement of the ground treatment equipment 1, determined by the evaluation and control device 7, can also be determined by using other parameters detected on the ground 6, such as the level of consumable consumption when performing ground treatment in a preset direction, the severity of wear on the ground 6 along a predetermined direction, and the quality of the ground treatment results achieved along the predetermined direction.

[0033] List of reference numerals

[0034] 1. Ground treatment equipment

[0035] 2. Drive unit

[0036] 3 Obstacle detection device

[0037] 4 Obstacles

[0038] 5. Sensor Device

[0039] 6. Ground

[0040] 7. Analysis and Control Unit

[0041] 8. Environmental Map

[0042] 9 Location Points

[0043] 10. Travel trajectory

[0044] 11. Local area of ​​equipment

[0045] 12 Ground processing components

[0046] 13 wheels

[0047] 14 Processing Path

[0048] 15 Directional Parameters

Claims

1. An autonomous ground processing device (1) comprising an electric drive unit (2) for moving the ground processing device (1) within an environment, an obstacle detection unit (3) for detecting obstacles (4) in the environment, a sensor unit (5) for detecting parameters of the ground (6) traversed by the ground processing device (1), and an evaluation and control unit for establishing an environmental map (8) based on the detected obstacle data and parameters, wherein, The evaluation and control device (7) is equipped with a drive device (2) for controlling the ground processing equipment (1) so that the ground processing equipment (1) rotates around a defined position point (9) of the ground (6), wherein the ground processing equipment (1) rotates around the defined position point (9) and rotates 360 degrees around itself, and wherein the evaluation and control device (7) is also equipped with a sensor device (5) for analyzing the parameters detected by the ground processing equipment (1) by means of the sensor device (5) when the ground processing equipment (1) rotates around the defined position point (9) of the ground (6), and determining the anisotropy of the parameters of the ground (6) with reference to different spatial directions defined in the environment, and recording the anisotropy of the parameters of the ground (6) in the environment map (8) with specified angular coordinates.

2. The ground treatment equipment (1) according to claim 1, characterized in that, The evaluation and control device (7) is configured to generate an average value of angle-related anisotropy based on multiple probes at different locations (9) in the environment.

3. The ground treatment equipment (1) according to claim 1 or 2, characterized in that, The sensor device (5) is configured to detect the power consumption of the drive device (2).

4. The ground treatment equipment (1) according to claim 1 or 2, characterized in that, The sensor device (5) is configured to detect changes in the power consumption of the drive device (2).

5. The ground treatment equipment (1) according to claim 1 or 2, characterized in that, The sensor device (5) is configured to detect the power consumption of the ground processing element (12) that drives the electric operation of the ground processing equipment (1).

6. The ground treatment equipment (1) according to claim 5, characterized in that, The sensor device (5) is configured to detect changes in the power consumption used to drive the ground processing element (12).

7. The ground treatment equipment (1) according to claim 5, characterized in that, The ground processing element (12) is driven rotatably or vibratingly.

8. The ground treatment equipment (1) according to claim 1 or 2, characterized in that, The sensor device (5) has a microphone configured to detect noise generated by the ground processing equipment (1) as it travels across the ground (6).

9. The ground treatment equipment (1) according to claim 1 or 2, characterized in that, The sensor device (5) is configured to detect the self-vibration of a local area (11) of the ground processing equipment (1).

10. The ground treatment equipment (1) according to claim 9, characterized in that, The sensor device (5) is configured to detect changes in the natural vibration.

11. The ground treatment equipment (1) according to claim 9, characterized in that, The sensor device (5) has an accelerometer and / or a gyroscope.

12. The ground treatment equipment (1) according to claim 1 or 2, characterized in that, The evaluation and control device (7) is configured to determine a strategy for the ground processing equipment (1) to travel within the environment based on the angle-related anisotropy of the parameters of the ground (6).

13. The ground treatment equipment (1) according to claim 12, characterized in that, The evaluation and control device (7) is configured to additionally determine a strategy for travel based on the type of ground treatment work performed during travel, wherein the ground treatment work is characterized by one of the following parameters: the intensity of ground treatment, the speed of ground treatment, the consumption of consumables during ground treatment, the wear and tear on the ground (6) caused by ground treatment, and the energy consumption during ground treatment.

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