Autonomously travelling ground treatment apparatus with multiple fall sensors

Abstract

The invention relates to a ground treatment device which travels autonomously, having a device housing, drive means, a fall sensor and a computing device. In order to be able to advantageously check the functionality of the fall sensor, it is proposed here that on the underside of the device housing there are a plurality of fall sensors which are arranged one after the other in the direction of the outer contour of the underside, the findings of the fall sensors are compared with reference findings and if they do not agree, it is determined that a preceding fall sensor has failed, distances which are successively detected in time by the same fall sensor are compared with one another and if these distances are identical, it is determined that the fall sensor has failed, and / or the findings of one fall sensor are compared with the findings of a further fall sensor which follows in the direction of travel behind the fall sensor and if a steep slope is detected by the fall sensor behind but not by the fall sensor in front, it is determined that the fall sensor in front has failed.

Description

Technical Field

[0001] The present invention relates to an autonomous ground treatment device having a housing, a drive mechanism for moving the ground treatment device within an environment, and at least one fall sensor disposed on the ground-facing bottom side of the housing, the at least one fall sensor being configured to detect the distance of the ground treatment device from the ground, and the ground treatment device further having a computing device configured to compare the distance detected by the fall sensor with an extreme value of a defined steep slope, and if the detected distance is greater than the defined extreme value, determine the existence of a steep slope as a detection result and transmit a control command to the drive mechanism to change the movement of the ground treatment device. Background Technology

[0002] Autonomous ground processing equipment is known in various embodiments in the prior art.

[0003] Floor cleaning equipment, such as typical household or industrial equipment, performs floor cleaning tasks, such as suction, scrubbing, grinding, polishing, oiling, or a combination thereof. According to one embodiment, autonomous floor cleaning equipment may be, for example, a suction robot, a scrubbing robot, or the like. Thus, the floor cleaning equipment must not collide with obstacles and has a detection device that can identify obstacles in the environment, such as walls, furniture, decorations, etc. The detection device may be, for example, a ranging device that measures the distance to the obstacle. Alternatively or additionally, the detection device may also have a contact sensor that can detect contact with the obstacle. The detection device may have multiple different sensors that use different technologies for detecting environmental features. Typical detection devices include, for example, laser rangefinders, especially triangulation sensors, ultrasonic sensors, radar sensors, or similar sensors.

[0004] Furthermore, in more advanced devices, it is known that environmental features detected by a detection device are used to create an environmental map, which displays a plan view of the environment surrounding the ground processing equipment and marks the locations of obstacles. Based on the created environmental map, a computing device can determine the current position of the ground processing equipment in the environment and, if necessary, plan a route through the environment. It is also known that the detection device of the ground processing equipment also has one or more fall sensors that measure the distance to the ground and, if necessary, detect that the ground processing equipment is traveling towards a steep slope. Such a steep slope can be, for example, a staircase slope, the edge of a step, a stair landing, or the like. If the ground processing equipment is traveling towards such a steep slope, the fall sensor arranged on the underside of the equipment housing reaches the top of the slope and detects a change in the distance to the ground of the ground processing equipment, i.e., an increase, such as above the next step. The computing device of the ground processing equipment then identifies the steep slope, and the ground processing equipment can change direction, thereby preventing the ground processing equipment from falling down the slope. The ground processing equipment thus turns beside the edge of the slope or travels parallel to the edge and continues traveling. Typically, ground handling equipment has such fall sensors in multiple locations on its housing to provide fall protection as it travels in different directions.

[0005] Although fall sensors are known in the prior art, there is a risk that a fall sensor might malfunction and fail to detect ground handling equipment approaching a steep slope. In this scenario, the ground handling equipment could fall down the slope, resulting in damage or even endangering personnel. Summary of the Invention

[0006] Based on the aforementioned prior art, the technical problem to be solved by the present invention is to provide an autonomous ground processing device that can reliably detect functional failures of fall sensors.

[0007] To address the aforementioned technical problem, it is proposed that the ground handling equipment has a plurality of fall sensors arranged sequentially along the outer contour of the bottom side of the equipment housing. The computing device is configured to compare the detection results of the fall sensors with known reference results, and if the detection results are inconsistent with the reference results, determine that a preceding fall sensor has malfunctioned. The computing device is also configured to continuously compare distances detected by the same fall sensors over time as the ground handling equipment moves, and if these distances are the same, determine that a fall sensor has malfunctioned. Alternatively, the computing device is configured to compare the detection result of one fall sensor with the detection result of at least one other fall sensor following that fall sensor along the direction of travel, and if a subsequent fall sensor detects a steep slope that a preceding fall sensor had not previously detected, determine that a preceding fall sensor has malfunctioned. In this case, if the subsequent fall sensor assumes the safety function of the malfunctioning preceding fall sensor, the ground handling equipment temporarily (or initially) continues operation.

[0008] According to the invention, the computing device is configured to verify the detection results obtained by the fall sensors, i.e., the results regarding the presence or absence of a steep slope within the area of ​​the ground handling equipment. This verification is performed by comparing the detection results with a known reference result or with the detection results of another fall sensor located after the fall sensor to be checked, i.e., arriving at the area of ​​the steep slope later in time. In the second case, the detection result of the later fall sensor is thus used as a reference result. This is based on the knowledge that the steep slope of the ground causes the fall sensor at the front of the ground handling equipment to enter the detection area of ​​the fall sensor at the front, i.e., the fall sensor arranged more outer on the bottom side of the equipment housing, and subsequently enters the detection area of ​​the fall sensor at the rear, which is arranged more inner on the bottom side of the equipment housing, as the ground handling equipment continues to travel in the same direction. If both fall sensors, i.e., the front fall sensor and the rear fall sensor, are functioning correctly, the front fall sensor will detect the steep slope first, followed by the rear fall sensor. However, if the initial fall sensor malfunctions, the steep slope can only be detected by the subsequent fall sensor, and it can be inferred that the initial fall sensor has obviously malfunctioned. Furthermore, if the ground handling equipment has only one fall sensor, its functionality can also be checked. In this case, the fall sensor's detection result obtained by a computing device is compared with a defined reference result. This can be achieved, for example, by having the ground handling equipment travel to a known local area of ​​the environment where a steep slope exists. This steep slope can then be used to test the fall sensor's functionality. If the ground handling equipment moves onto the steep slope via the local area carrying the fall sensor on the bottom side of the equipment housing, a properly functioning fall sensor must detect the slope. If not, it can be inferred that the fall sensor has obviously malfunctioned. According to another embodiment, the computing device of the ground handling equipment can be designed to combine two of the aforementioned testing variations, i.e., comparing the fall sensor's detection result both with a static reference result and with the detection result of another fall sensor located behind the fall sensor to be checked. This ensures the highest level of safety when using the ground handling equipment. The deviation of the fall sensor's detection results from reliable detection results can be reliably determined.

[0009] This invention allows for the determination of malfunctions in fall sensors in various ways. For this purpose, sensor malfunctions are calculated, wherein the fall sensor continuously measures the minimum or maximum distance to the ground. Furthermore, the fall sensor can also continuously display a constant value between the minimum and maximum distances even when malfunctioning. The evaluation can be performed by comparing the distance value detected by the first fall sensor with the distance value detected by the second fall sensor at the same location, by calculating the difference between the two detection results. If the difference is not zero or at least above an acceptable threshold, it can be inferred that either the first or second fall sensor has malfunctioned, depending on which distance value is considered reliable in relation to the current operating mode or current location of the ground handling equipment.

[0010] Furthermore, it is suggested that the bottom side of the device housing has at least four drop sensors, which are paired and opposite each other relative to the geometric center of the bottom side, such that each of the four sides of the outer contour is equipped with at least one drop sensor. In this design, the ground handling equipment prevents falls on all sides as much as possible. In a substantially rectangular device housing, each side of the outer contour may be equipped with a drop sensor. In a substantially circular device housing, each peripheral segment of the 90-degree angled region may have a drop sensor. These drop sensors may be arranged symmetrically or asymmetrically relative to the geometric center. Essentially, each side is equipped with one drop sensor. In this design, a substantially cross-shaped arrangement of drop sensors is created in the line connecting the imaginary drop sensors to the geometric center. The ground handling equipment designed in this way can advantageously prevent falls by comparing the signals of two drop sensors opposite each other relative to the geometric center with the signal of a drop sensor ahead of the line along the direction of travel. If two opposing fall sensors detect a steep slope almost simultaneously, then the other fall sensor ahead along the direction of travel must have also detected it earlier. If this is not the case, the computing unit of the ground handling equipment can infer that the fall sensor at the front has malfunctioned. Based on the current direction of travel of the ground handling equipment, the detection results of the fall sensors located in the leading local area along the direction of travel on the outer contour are compared at least with each other. It is suggested that comparison pairs be constructed, each consisting of two fall sensors, with an imaginary line connecting these two fall sensors transverse to the current direction of travel of the ground handling equipment. Additionally, the signal of the other fall sensor ahead of this line can be compared with the signal of the fall sensor in the line, since the preceding fall sensor, under normal operation, has detected the steep slope before the following fall sensor can detect it. Furthermore, the ground handling equipment may have not only four fall sensors, but also five or more. Particularly preferably, the number of fall sensors mounted on the bottom side of the equipment housing is divisible by 2, thereby constructing fall sensor pairs that achieve a symmetrical arrangement of the fall sensors.

[0011] It can be specified that the ground treatment device has multiple outer fall sensors arranged sequentially along the outer contour of the device housing on the bottom side, and multiple inner fall sensors offset inward relative to the outer fall sensors along the outer contour. The computing device is configured to compare the detection results of the outer fall sensors with the detection results of the inner fall sensors corresponding to the outer fall sensors in terms of position. If the inner fall sensors detect a steep slope and the corresponding outer fall sensors do not detect a steep slope, then it is determined that the outer fall sensors have malfunctioned. In this design, the inner fall sensors are redundant sensors used to prevent the ground treatment device from falling on steep slopes. These fall sensors are arranged in two rings along the outer contour, with the outer ring closer to the outer contour than the inner ring. The outer ring has the outer fall sensors, while the inner ring has the inner fall sensors. Preferably, the inner fall sensors are located within the range of the outer fall sensors. Here, the inner fall sensor can be slightly offset relative to the outer fall sensor along the circumference of the equipment housing. Essentially, there is no excessive gap between the outer and inner fall sensors for fall protection, allowing the ground handling equipment to travel a relatively insignificant distance until the inner fall sensor can detect a steep slope. This ensures that, in the event of a malfunction of the outer fall sensor, the inner fall sensor can detect a steep slope for a short period.

[0012] Accordingly, it is preferably recommended that an inner drop sensor, positioned relative to the bottom side of the device housing, spatially mate with an outer drop sensor, such that the inner and outer drop sensors form a sensor pair. Thus, the outer drop sensors are secured by the inner drop sensors, which can measure fall risk in place of a malfunctioning outer drop sensor. Furthermore, the inner drop sensors can check the functionality of the outer drop sensors through signal comparison.

[0013] Furthermore, it can be stipulated that the inner fall sensors are arranged on the bottom side of the device housing such that the line connecting two inner fall sensors arranged sequentially along the circumference of the outer contour will not intersect (or intersect) or, in particular, be tangent to, the center of gravity region defined on the bottom side, which has a vertical projection of the center of gravity of the ground handling equipment in the plane of the fall sensors. According to this design, the inner fall sensors and the outer fall sensors, as well as the vertical projection of the center of gravity, are all arranged in the sensor plane such that the line connecting the fall sensors arranged sequentially along the circumference does not intersect or contact the defined center of gravity region. The center of gravity region is defined with reference to the vertical projection of the center of gravity such that if the edge of a steep slope intrudes into the defined center of gravity region, that is, is vertically below the center of gravity region, the ground handling equipment is likely to fall down the steep slope. The steep slope is detected as long as the center of gravity region is not yet above the edge of the steep slope, thereby allowing the impending fall to be identified in a timely manner. When an observer views the ground processing equipment vertically from above, referring to the viewing direction of the equipment, the center of gravity of the equipment is preferably located in the center of a defined center of gravity area. If the internal drop sensors are arranged outside the defined center of gravity area on the equipment housing, such that the imaginary lines connecting the sequentially arranged drop sensors do not intersect or are additionally not tangent to the center of gravity area, the ground processing equipment will not exceed the steep slope with edges of the same straight shape. Instead, the edges of the steep slope reach the detection area of ​​the internal drop sensors before the position of the center of gravity relative to the steep slope causes the equipment to lose balance. The defined center of gravity area can thus also be called the fall zone, and the presence of the edges of the steep slope in the fall zone is likely to cause the ground processing equipment to tip over.

[0014] Furthermore, the computing device can be configured to continuously compare distances detected by the same fall sensors over time as the ground processing equipment moves, and if these distances are the same, determine that a fall sensor has malfunctioned. Thus, the fall sensor's detection signal is compared with a reference result, which is a subsequent detection signal from the same fall sensor over time. In this embodiment, it is not necessary to use additional redundant fall sensors relative to the fall sensor being inspected. Instead, temporally successive detection signals from the same fall sensor are compared, i.e., the detected distance values ​​to the ground of the ground processing equipment. If the ground processing equipment is moving relative to the ground, there will certainly be slight variations in the measured distance values ​​due to noise interference from the fall sensor's measurement technology alone. If such variations cannot be detected, it can be inferred that a sensor malfunction exists. Relatedly, it is particularly recommended that the computing device identify a threshold for noise for the fall sensors, thereby distinguishing noise interference from actual steep slopes.

[0015] The computing device can also be configured to stop the movement of the ground handling equipment and / or transmit a fault signal to the user of the ground handling equipment when a malfunction of the fall sensor is detected. Thus, in the event of a malfunction, the ground handling equipment takes safety measures, and the computing device shuts down the drive unit of the ground handling equipment according to feasible operating methods, thereby achieving a stop. This achieves a safe shutdown of the ground handling equipment, or at least a safe shutdown of the drive unit, thereby preventing the ground handling equipment from falling onto a steep slope. Alternatively or additionally, the computing device can be configured to transmit a fault signal to the user of the ground handling equipment when the fall sensor detects a malfunction. Thus, alternatively or additionally, the computing device can report the fault event to the user of the ground handling equipment instead of stopping the movement of the ground handling equipment. According to one embodiment, the drive unit of the ground handling equipment can stop immediately and transmit a fault signal to the user. However, alternatively, it is also possible for the ground handling equipment to temporarily continue operation if another fall sensor assumes the safety function of the malfunctioning fall sensor at this time. The fault signal, i.e., information about the fall sensor malfunction, can then be reported to the user, thus ensuring the functional safety of the professionally operated ground handling equipment. Fault signals can be communicated to the user acoustically or optically. For example, the ground processing equipment may have speakers or displays that output the fault in voice or text format. Alternatively, the ground processing equipment may have a communication interface that transmits the fault signal to an external terminal device of the user connected in communication with the ground processing equipment. The external terminal device may be, for example, the user's mobile phone, tablet, or other mobile or stationary device suitable for receiving the fault signal and informing the user. It is particularly recommended that the user's external terminal device have an application that optimizes communication with the ground processing equipment, and especially its computing device. The user can also transmit control commands to the computing device of the ground processing equipment through the application.

[0016] In addition to the aforementioned ground processing equipment, this invention also proposes a system comprising an autonomously moving ground processing equipment of the aforementioned type and a base station, wherein the base station is used to provide services to the ground processing equipment, wherein the base station has a reference surface that can be traveled by the ground processing equipment, and wherein the computing device of the ground processing equipment is configured to compare the distance to the reference surface detected by the fall sensor of the ground processing equipment with a defined reference result, and if there is a deviation, determine that the fall sensor has malfunctioned. According to this design, the base station has a reference surface on which the ground processing equipment can check the functionality of the fall sensor. The computing device knows the distance of the fall sensor of the ground processing equipment to the reference surface in a defined position and orientation relative to the base station. In this design, it is not necessary for the ground processing equipment to have multiple fall sensors for checking the reliability of the fall sensor detection results. Instead, the reference surface of the base station is used as a reference result. The base station may be, for example, a charging station for the battery of the ground processing equipment or a site for providing one or more additional service functions to the ground processing equipment or its components. The reference surface for the base station can be, for example, a parking surface, on which ground processing equipment can be positioned, for example, for charging batteries at the base station. The distances between each fall sensor and the reference surface are then known at this positioned location. Subsequently, during service, the functionality of the fall sensors is checked by comparing the distances detected by the fall sensors from the ground processing equipment with the known reference distances to the reference surface. If the distance values ​​detected by the fall sensors deviate from defined reference values, a fault condition of the fall sensor can be inferred. A threshold can be defined if necessary, determining when a deviation value is considered a significant level of fault.

[0017] Specifically, the reference surface can be specified to have a steep slope, wherein the slope is positioned such that the fall sensors of the ground handling equipment move beyond the slope when driving onto the reference surface. According to this design, the reference surface has a steep slope, and the functionality of the fall sensors can be checked on the slope. The computing device possesses information about the height of the slope, so that the distance measured by the fall sensors beside the slope can be compared with this reference value. The reference surface is preferably designed such that the ground handling equipment can be moved above the slope via a local area of ​​the equipment housing containing one or more fall sensors. The local area of ​​the reference surface used as a placement surface for the ground handling equipment may, for example, have a length and / or width greater than the distance between two successive or parallel wheels of the ground handling equipment along the driving direction, but smaller than the outer contour of the equipment housing, such that the local area on the bottom side of the equipment housing where one or more fall sensors are arranged protrudes beyond the slope. To check sensor functionality, the location of the ground processing equipment is then particularly preferably associated with a position and orientation of the ground processing equipment that it adopts when receiving services, such as a docking position for charging the ground processing equipment's batteries.

[0018] Finally, the present invention also proposes a method for checking the functionality of a fall sensor of an autonomously moving ground handling device, wherein the ground handling device has a housing, a drive mechanism for moving the ground handling device within an environment, at least one fall sensor and a computing device disposed on the ground-facing bottom side of the housing, wherein the fall sensor detects the distance of the ground handling device to the ground, and wherein the computing device compares the distance detected by the fall sensor with an extreme value of a defined steep slope and, if the distance is greater than the defined extreme value, determines the existence of a steep slope as a detection result and transmits a control command to the drive mechanism to change the movement of the ground handling device. According to the present invention, the ground processing equipment has a plurality of fall sensors arranged sequentially along the outer contour of the bottom side of the equipment housing. The computing device compares the detection results of the fall sensors with defined reference results, and if the detection results are inconsistent with the reference results, it determines that the preceding fall sensor has malfunctioned. The computing device also compares distances detected sequentially by the same fall sensors during the movement of the ground processing equipment, and if these distances are the same, it determines that the fall sensor has malfunctioned. Furthermore, the computing device compares the detection result of one fall sensor with the detection result of at least one other fall sensor following that fall sensor along the direction of travel, and if the following fall sensor detects a steep slope that the preceding fall sensor did not detect earlier, it determines that the preceding fall sensor has malfunctioned. In cases where the following fall sensor assumes the safety function of the malfunctioning preceding fall sensor, the ground processing equipment temporarily continues to operate. The proposed method is preferably a method for operating an autonomously moving ground processing equipment of the aforementioned type. To avoid repetition, the foregoing description of the ground treatment apparatus according to the invention is used in relation to the method. The aforementioned features and advantages also apply to the method according to the invention. Attached Figure Description

[0019] The present invention is further illustrated below with reference to embodiments. In the accompanying drawings:

[0020] Figure 1 A ground treatment apparatus according to a first embodiment of the present invention is shown.

[0021] Figure 2 Showing according to Figure 1 A bottom view of the ground treatment equipment.

[0022] Figure 3a The image shows a bottom view of the ground handling equipment as it approaches a steep slope.

[0023] Figure 3bThe basis is shown when partially exceeding the steep slope. Figure 3a Ground treatment equipment,

[0024] Figure 3c The basis is shown when going further beyond the steep slope. Figure 3a and 3b Ground treatment equipment,

[0025] Figure 4 A bottom view of a ground treatment device according to another embodiment is shown.

[0026] Figure 5 The evidence shown next to the base station Figure 4 Ground treatment equipment. Detailed Implementation

[0027] Figure 1 An exemplary floor treatment device 1 according to the invention is shown, which is designed herein as an autonomous cleaning robot. The floor treatment device 1 has a housing 2 and a drive unit 3 for driving a plurality of wheels 23 mounted on the bottom side 7 of the housing 2. The floor treatment device 1 has a battery (not shown) for powering the drive unit 3 and other power-consuming devices. The drive unit 3 is, for example, an electric motor (not shown). Furthermore, a cleaning element 22, designed herein as a rotatable brush roller, is movably supported on the housing 2. Additionally, the floor treatment device 1 may have a fan (not shown) for, for example, transferring suction material to a suction material collector. However, instead of being configured as a suction cleaning device, the floor treatment device 1 can also be designed as any other autonomous floor treatment device 1, such as a scrubbing device, a polishing device, or a similar device.

[0028] To prevent the ground processing device 1 from colliding with obstacles on the ground 6 during its movement, the ground processing device 1 includes a detection device 4, a collision sensor 26, and a computing device 5. The computing device is designed to evaluate the signals detected by the detection device 4 and the collision sensor 26. The detection device 4 is, for example, a ranging device that measures the distance to obstacles present in the environment. The ranging device is designed, for example, a laser ranging device, particularly a triangulation device, having a 360° light outlet arranged above the device housing 2. The distance values ​​detected by the ranging device are evaluated by the computing device 5 to create an environmental map, which includes not only an environmental plan, such as a space or building, but also the location and size of obstacles present in the space or building. The created environmental map is used by the computing device 5 of the ground processing device 1 for navigation and autonomous positioning within the environment. The current position and orientation of the ground processing device 1 can be determined, and for example, a route through the environment without obstacles can be planned. The collision sensor 26 is designed, for example, as an infrared sensor and is used to detect obstacles in the vicinity and thus also to avoid collisions. Furthermore, the ground handling device 1 has fall sensors 8, 9, 10, 11, 12, 13, 14, and 15, which can detect steep slopes 16 on the ground 6. For this purpose, fall sensors 8, 9, 10, 11, 12, 13, 14, and 15 detect a distance a, which gives the change in height of the ground 6. The computing device 5 compares the distance a with a defined extreme value to evaluate the detected distance a. If the detected distance a is greater than the defined extreme value, it is inferred that the ground handling device 1 is beside the steep slope 16 on the ground 6. To prevent the ground handling device 1 from falling across the steep slope 16 in all directions and thus in all arbitrary directions of travel, the fall sensors 8, 9, 10, 11, 12, 13, 14, and 15 are arranged along the outer contour 17 of the bottom side 7 of the device housing 2.

[0029] Figure 2The bottom side 7 of the ground handling device 1 is shown, which has fall sensors 8, 9, 10, 11, 12, 13, 14, and 15 arranged along the outer contour 17 of the device housing 2. The fall sensors 8, 9, 10, 11, 12, 13, 14, and 15 are arranged in two rows: an outer row with four outer fall sensors 8, 9, 10, and 11, and an inner row with four inner fall sensors 12, 13, 14, and 15. Each outer fall sensor 8, 9, 10, and 11 is paired with an inner fall sensor 12, 13, 14, and 15, thus forming a sensor pair. Here, these sensors are configured as follows: an outer drop sensor 8 and an inner drop sensor 12; an outer drop sensor 9 and an inner drop sensor 13; an outer drop sensor 10 and an inner drop sensor 14; and an outer drop sensor 11 and an inner drop sensor 15. Each pair of drop sensors 8, 9, 10, 11, 12, 13, 14, and 15 is essentially assigned to one side of the outer contour to protect the ground treatment equipment 1 from steep slopes 16 in the environment in four different directions. Figure 2 The defined center of gravity region 19 is also shown, which defines a circular area within the plane constituting the bottom side 7 of the fall sensors 8, 9, 10, 11, 12, 13, 14, and 15, surrounding the projection 20 of the center of gravity 21. (When the device housing 2 is horizontally oriented and viewed vertically) When the ground handling device 1 is viewed from below, the center of gravity 21 and the projection 20 of the center of gravity are arranged to overlap each other. The center of gravity region 19 defined around the projection 20 is sized such that the lines 18 connecting the fall sensors 12, 13, 14, and 15 sequentially on the inner side along the inner contour 17 do not touch the circular center of gravity region 19. Here, lines 18 are defined between the successively inner fall sensors 12 and 13, 13 and 14, 14 and 15, and 15 and 12. It can be seen that these lines 18 do not intersect or contact the center of gravity region 19. The center of gravity region 19 is sized such that as long as the edge of the steep slope 16 has not entered this center of gravity region 19—that is, when the ground processing equipment 1 is horizontally oriented, the edge of the steep slope has not yet entered the center of gravity region 19—there is no risk of the ground processing equipment 1 falling off the steep slope 16. However, if the ground processing equipment 1 continues to move towards the steep slope 16, and the center of gravity region 19 has partially exceeded the steep slope 16, there is a greater risk that the ground processing equipment 1 may overturn beyond the steep slope 16. The arrangement of fall sensors 8, 9, 10, 11, 12, 13, 14, and 15 on the bottom side 7 prevents the ground processing equipment 1 from moving too far towards the steep slope 16 and thus avoiding a dangerous situation.

[0030] The area adjacent to the center of gravity region 19 on the bottom side 7 of the equipment housing 2 is monitored by fall sensors 8, 9, 10, 11, 12, 13, 14, and 15, which is separated from the center of gravity region 19 by connecting lines 18. Here, the second row of sensors, including the inner fall sensors 12, 13, 14, and 15, serves as a failsafe for the outer fall sensors 8, 9, 10, and 11. For example, if the associated outer fall sensor 8 malfunctions or produces an incorrect detection result, the inner fall sensor 12 ensures that the ground handling equipment 1 will not fall beside the steep slope 16 while the ground handling equipment 1 is moving forward normally. Similarly, the inner fall sensor 13 can replace the outer fall sensor 9. The inner fall sensor 14 correspondingly constitutes redundancy for the outer fall sensor 10, and similarly, the inner fall sensor 15 can replace the outer fall sensor 11.

[0031] The following details the method for checking the functionality of fall sensors 8, 9, 10, 11, 12, 13, 14, and 15 during the operation of ground handling equipment 1. Based on... Figures 3a to 3c In the middle, ground processing equipment 1 moves towards steep slope 16. According to Figure 3a The equipment housing 2 of the ground treatment equipment 1 is still completely located before the steep slope 16. According to Figure 3b The equipment housing 2 has partially moved beyond the steep slope 16, meaning that a local section of the outer contour 17 protrudes beyond the steep slope 16. Figure 3c In the middle, the equipment housing 2 moved further beyond the steep slope 16.

[0032] exist Figure 3a In this case, fall sensors 8, 9, 10, 11, 12, 13, 14, and 15 have not yet detected the steep slope 16. The ground processing device 1 then continues moving towards the steep slope 16, i.e., in the direction of movement indicated by the arrow. As long as at least part of the ground processing device 1 extends beyond the outer contour 17 of the steep slope 16, the edge of the steep slope 16 is within the detection area of ​​the fall sensor 8, which is on the outer side in the forward direction. Figure 3bIf the fall sensor 8 operates without fault, the computing device 5 can determine the presence of the steep slope 16 and thus control the drive unit 3 of the ground handling equipment 1 to change its direction of travel, i.e., move away from the steep slope 16. However, in the example shown here, the starting point is that the initial outer fall sensor 8, arranged along the direction of travel on the outer contour 17 of the equipment housing 2, malfunctions, and the computing device 5 therefore cannot recognize that the equipment housing 2 has partially moved beyond the steep slope 16. Because the inner fall sensor 12, which is associated with the outer fall sensor 8, has not yet moved beyond the steep slope 16, the inner fall sensor cannot yet recognize the steep slope 16. Therefore, the ground handling equipment 1 continues to move beyond the steep slope 16 until it reaches... Figure 3c The location is shown. At this location, the edge of the slope 16 is within the detection area of ​​the inner fall sensor 12, which serves as a backup for the outer fall sensor 8. The computing device 5 detects that the equipment housing 2 has partially exceeded the slope 16 and stops the drive unit 3 of the ground handling equipment 1 until the center of gravity region 19 of the equipment housing 2 is still a considerable distance beyond the slope 16. Thus, the ground handling equipment 1 is reliably prevented from falling beyond the slope 16. In addition to stopping the drive unit 3, the computing device 5 preferably also sends a message to the user of the ground handling equipment 1 to notify the user of the malfunction and to take control of the ground handling equipment 1.

[0033] Figure 4 and 5 Another feasible embodiment of the ground treatment device 1 according to the invention is shown. Here, the ground treatment device 1 does not have a double row of fall sensors 8, 9, 10, 11 on the bottom side 7 of the device housing 2. Instead, only a single row of fall sensors 8, 9, 10, 11 exists along the outer contour 17. The device housing 2 of the ground treatment device 1 is designed, for example, circularly, with the fall sensors 8, 9, 10, 11 arranged in 90-degree angular segments along the outer contour 17. Referring to the normal direction of travel of the ground treatment device 1, in which the fall sensors 8 are located at the front, each side of the ground treatment device 1 is substantially protected from falling by one of the fall sensors 8, 9, 10, 11. The ground treatment device 1 can also be any type of ground treatment device 1 in this embodiment. Here, the ground treatment device is also equipped with a cleaning element 22 and uses wheels 23 for autonomous movement of the ground treatment device 1 on the ground 6. Figure 1In the first embodiment shown in Figure 3, fall sensors 8, 9, 10, and 11 measure the distance 'a' to the ground 6. These fall sensors 8, 9, 10, and 11 can be designed as optical or acoustic sensors, such as laser sensors or ultrasonic sensors. Alternatively, distance measurement can also be achieved using radar sensors. The computing unit 5 of the ground processing device 1 is configured to check the functionality of each fall sensor 8, 9, 10, and 11 by comparing the signals of the fall sensor 8, 9, 10, and 11 to be checked with the signals of at least two other fall sensors 8, 9, 10, and 11 that follow immediately after the ground processing device 1 in its direction of travel. If the ground processing device 1 is moving, for example, along the main direction of travel, and fall sensor 8 is in front, then the detection signal of fall sensor 8 is compared with the signals of the two fall sensors 9 and 11 that follow in the direction of travel. The imaginary line connecting the rear fall sensors 9 and 11 is oriented substantially orthogonally to the direction of travel of the ground handling device 1. The premise is that if the edge of the slope 16 also extends orthogonally to the direction of travel of the ground handling device 1, the rear fall sensors 9 and 11 will detect the slope 16 substantially simultaneously. If the front fall sensor 8 is functioning normally, it will detect the slope 16 first. The calculation unit 5 determines, based on the distance 'a' measured by the fall sensor 8, that the device housing 2 has partially exceeded the slope 16, and thus controls the drive mechanism 3 of the wheels 23 so that the ground handling device 1 turns or moves to the side before reaching the slope 16. However, if the fall sensor 8 malfunctions, it may emit an incorrect detection signal or even no detection signal at all, and the ground handling device 1 will continue moving towards the slope 16. Subsequently, as it continues to travel, the two rear fall sensors 9 and 11 reach the slope 16. The computing unit 5 of the ground treatment equipment 1 detects that the fall sensor 8 did not detect the steep slope 16 and infers that the fall sensor 8 must have malfunctioned. Therefore, the drive unit 3 of the ground treatment equipment 1 is preferably shut down as an emergency shutdown. Additionally, the user of the ground treatment equipment 1 is preferably notified of the malfunction of the fall sensor 8. Although only the functionality of four fall sensors 8, 9, 10, and 11 is shown here according to the ground treatment equipment 1, it is recommended that additional fall sensors 8, 9, 10, and 11 be arranged on the bottom side 7 of the equipment housing 2, especially such that the first pair of fall sensors 9 and 11 at the rear are located in front of the load-bearing elements of the equipment housing 2, that is, in front of the cleaning element 22 that supports the ground treatment equipment 1 on the ground 6. This prevents the ground treatment equipment 1 from potentially overturning beyond the steep slope 16 until subsequent fall sensors 9 and 11 compensate for the malfunction of the preceding fall sensor 8.The safety functions of the ground processing equipment 1 are effective in principle in every arbitrary direction of travel of the ground processing equipment 1, provided that the drive unit 3 allows such travel and fall sensors 8, 9, 10, and 11 are correspondingly mounted on the bottom side 7 of the equipment housing 2. These fall sensors implement the aforementioned functional mode in every direction of travel of the ground processing equipment 1. If the ground processing equipment 1 is traveling, for example, in one direction, with fall sensor 10 positioned in front in that direction, then fall sensors 9 and 11 also serve as comparison sensors, providing detection results for comparison with the detection signal of the front fall sensor 10.

[0034] Figure 5 Finally, a possible implementation of the system according to the invention, consisting of an autonomous ground processing device 1 and a base station 24, is shown. The base station 24 is designed here, for example, as a charging station for a (not shown) battery of the ground processing device 1. Both the ground processing device 1 and the base station 24 have charging interfaces 27 that can transmit electrical energy. However, the invention is not concerned with the design of the base station 24 as a charging station. Alternatively or additionally, the base station 24 may also be configured to provide other services for the ground processing device 1. The base station 24 has a housing with a ground surface 6 for the ground processing device 1 to travel on. Thus, the ground processing device 1 can reach the ground surface 6 of the base station 24 using a ramp 28. A reference surface 25 is constructed on the ground surface 6, the reference surface having a steep slope 16 having a defined distance a to a deeper plane, known by the computing device 5 of the ground processing device 1. The steep slope 16 is constructed in the form of a "measuring gap." When the charging interface 27 of the base station 24 and the charging interface 27 of the ground processing device 1 are interconnected for power transmission, a portion of the bottom side 7 of the device housing 2 of the ground processing device 1 can move onto this measuring gap. In this "dating position," for example, the drop sensor 8 at the front detects distance a and compares it with a reference value of distance a known to the computing device 5. If the two values ​​of distance a match, the computing device 5 of the ground processing device 1 determines that the drop sensor 8 is operating correctly and effectively. If the drop sensor 8 detects a distance a that deviates from the reference value, the computing device 5 can infer that the drop sensor 8 has malfunctioned. Thus, a prompt can be issued to the user via the communication interface of the ground processing device 1, indicating that the ground processing device 1 should be inspected by a technician. This prompt can also be transmitted wirelessly to the user's external terminal device.

[0035] It can also be specified that the reference surface 25 of the base station 24 is constructed in such a way that the normal functionality of multiple fall sensors 8, 9, 10, 11, 12, 13, 14, and 15 can be checked simultaneously. Here, the reference surface 25 is cut, for example, such that a local area of ​​the device housing 2 containing multiple fall sensors 8, 9, 10, 11, 12, 13, 14, and 15 can simultaneously extend outwards onto the steep slope 16 and detect a distance a, which is then compared with one or more reference values ​​by the computing device 5 of the ground processing equipment 1. Figure 5 The reference surface 25 shown can be so narrow, for example, that the parallel wheels 23 can be safely placed on it, while local areas of the adjacent device housing 2 extend beyond the steep slope 16.

[0036] Another possibility for checking the normal functionality of fall sensors 8, 9, 10, 11, 12, 13, 14, and 15 is to compare the detection distance values ​​'a' of fall sensors 8, 9, 10, 11, 12, 13, 14, and 15 sequentially during the movement of ground processing equipment 1. Even on flat ground 6, fluctuations in the detection signal will occur due to signal noise during the movement of ground processing equipment 1. If the fall sensors 8, 9, 10, 11, 12, 13, 14, and 15 under inspection malfunction, such fluctuations in the detection signal will not be observed. This additional inspection measure can be applied in all the aforementioned embodiments of ground processing equipment 1, that is, according to... Figure 1 In the embodiments up to 3, in accordance with Figure 4 In the implementation method and also according to Figure 5 These implementations are applied in various ways. Furthermore, these implementations can be combined to allow for multiple checks on the functionality of drop sensors 8, 9, 10, 11, 12, 13, 14, and 15 and verification using different methods.

[0037] List of reference numerals

[0038] 1. Ground treatment equipment

[0039] 2 Equipment casing

[0040] 3. Drive unit

[0041] 4. Detection device

[0042] 5. Computing device

[0043] 6. Ground

[0044] 7. Bottom side

[0045] 8. Fall Sensor

[0046] 9. Fall Sensor

[0047] 10. Fall Sensors

[0048] 11. Fall Sensor

[0049] 12 Fall Sensors

[0050] 13 Fall Sensors

[0051] 14. Fall Sensor

[0052] 15. Fall Sensor

[0053] 16 Steep Slope

[0054] 17 Outer contour

[0055] 18 lines

[0056] 19. Center of gravity area

[0057] 20 Projections

[0058] 21 Center of gravity

[0059] 22 Cleaning components

[0060] 23 wheels

[0061] 24 base stations

[0062] 25 Reference plane

[0063] 26 Collision Sensors

[0064] 27 Charging ports

[0065] 28. Slope

[0066] a distance

Claims

1. An autonomous ground treatment device (1) comprising a housing (2), a drive mechanism (3) for moving the ground treatment device (1) within an environment, and at least one fall sensor (8, 9, 10, 11, 12, 13, 14, 15) disposed on the bottom side (7) of the housing (2) facing the ground (6), the at least one fall sensor being configured to detect a distance (a) from the ground treatment device (1) to the ground (6), and the ground treatment device (1) further comprising a computing device (5) configured to compare the distance (a) detected by the fall sensor (8, 9, 10, 11, 12, 13, 14, 15) with an extreme value of a defined steep slope (16), and if the detected distance (a) is greater than the defined extreme value, determine the existence of a steep slope (16) as a detection result and transmit a control command to the drive mechanism (3) to change the movement of the ground treatment device (1), characterized in that, The ground processing equipment (1) has a plurality of fall sensors (8, 9, 10, 11, 12, 13, 14, 15) arranged sequentially along the outer contour (17) of the bottom side (7) of the equipment housing (2). The computing device (5) is configured to compare the detection results of the fall sensors (8, 9, 10, 11, 12, 13, 14, 15) with known reference results, and if the detection results are inconsistent with the reference results, determine the fall sensor in front. (8, 9, 10, 11, 12, 13, 14, 15) malfunctions, wherein the computing device (5) is configured to continuously compare distances (a) detected by the same fall sensors (12, 13, 14, 15) over time as the ground processing equipment (1) is traveling, and if these distances (a) are the same, determine that the fall sensors (12, 13, 14, 15) have malfunctioned, and / or wherein the computing device (5) is configured to compare a fall sensor (8, 9, 10, 11, 12, 13, 14, 15) with each other over time ..., and if the distances (a) are the same, determine that the fall sensors (12, 13, 14, 15) have malfunctioned, and / or wherein the fall sensors (8, 9, 10, 11, 12, 13, 14, 15) have malfunctioned, and / or wherein the fall sensors (8, 9, 10, 11, 12, 13, 14, 15) have malfunctioned, and / or wherein the fall sensors (8, 9, 10, 11, 12, The detection results of the fall sensors (8, 9, 10, 11, 12, 13, 14, 15) are compared with the detection results of at least one other fall sensor (8, 9, 10, 11, 12, 13, 14, 15) following the fall sensor (8, 9, 10, 11, 12, 13, 14, 15) along the direction of travel, and if the fall sensor (8, 9, 10, 11, 12, 13, 14, 15) detects a steep slope (16), while the fall sensor (8, 9, 10, 11) detects a steep slope (16), the fall sensor (8, 9, 10, 11) detects a steep slope (16). If the steep slope (16) was not detected earlier by the fall sensors (8, 9, 10, 11, 12, 13, 14, 15), it is determined that the fall sensors (8, 9, 10, 11, 12, 13, 14, 15) in front have malfunctioned. In this case, the fall sensors (8, 9, 10, 11, 12, 13, 14, 15) located behind the fall sensors take over the safety function of the fall sensors (8, 9, 10, 11, 12, 13, 14, 15) in front ...

2. The ground treatment equipment (1) according to claim 1, characterized in that, The bottom side (7) of the device housing has at least four drop sensors (8, 9, 10, 11, 12, 13, 14, 15), which are arranged in pairs opposite each other with respect to the geometric center of the bottom side (7), such that each of the four sides of the outer contour (17) is equipped with at least one drop sensor (8, 9, 10, 11, 12, 13, 14, 15).

3. The ground treatment equipment (1) according to claim 1, characterized in that, The ground treatment device (1) has a plurality of outer fall sensors (8, 9, 10, 11) arranged sequentially along the outer contour (17) of the bottom side (7) of the device housing (2), and a plurality of inner fall sensors (12, 13, 14, 15) offset inward relative to the outer fall sensors (8, 9, 10, 11) along the outer contour (17), wherein the computing device (5) is configured to process the outer fall sensors (8, 9, 10, 11) in a series of directions. The detection results of the outer fall sensor (8, 9, 10, 11) and the detection results of the inner fall sensor (12, 13, 14, 15) are compared with those of the outer fall sensor (8, 9, 10, 11). If the inner fall sensor (12, 13, 14, 15) detects the steep slope (16) and the outer fall sensor (8, 9, 10, 11) does not detect the steep slope (16), then it is determined that the outer fall sensor (8, 9, 10, 11) has malfunctioned.

4. The ground treatment equipment (1) according to claim 3, characterized in that, An inner drop sensor (12, 13, 14, 15) is positioned relative to an outer drop sensor (8, 9, 10, 11) on the bottom side (7) of the device housing (2), such that the inner drop sensor (12, 13, 14, 15) and the outer drop sensor (8, 9, 10, 11) constitute a sensor pair.

5. The ground treatment equipment (1) according to claim 3 or 4, characterized in that, The inner drop sensors (12, 13, 14, 15) are arranged on the bottom side (7) of the device housing (2) such that the line (18) connecting two circumferentially adjacent inner drop sensors (12, 13, 14, 15) along the outer contour (17) does not intersect the center of gravity region (19) defined on the bottom side (7), which has a vertical projection (20) of the center of gravity (21) of the ground treatment device (1) in the plane of the drop sensors (8, 9, 10, 11, 12, 13, 14, 15).

6. The ground treatment equipment (1) according to claim 5, characterized in that, The connecting line (18) will not be tangent to the centroid region (19).

7. The ground treatment equipment (1) according to claim 1, characterized in that, The computing device (5) is configured to stop the movement of the ground processing equipment (1) when a functional failure of the fall sensors (8, 9, 10, 11, 12, 13, 14, 15) is determined, and / or transmit a fault signal to the user of the ground processing equipment (1).

8. A system comprising an autonomous ground processing device (1) and a base station (24), wherein the ground processing device is the ground processing device (1) according to any one of claims 1 to 7, and the base station is used to provide services to the ground processing device (1), characterized in that, The base station (24) has a reference surface (25) that can be driven by the ground processing equipment (1), wherein the computing device (5) of the ground processing equipment (1) is configured to compare the distance (a) to the reference surface (25) detected by the fall sensors (8, 9, 10, 11, 12, 13, 14, 15) of the ground processing equipment (1) with a defined reference result and, if there is a deviation, determine that the fall sensors (8, 9, 10, 11, 12, 13, 14, 15) have malfunctioned.

9. The system according to claim 8, characterized in that, The reference surface (25) has a steep slope (16), wherein the steep slope (16) is positioned such that the fall sensors (8, 9, 10, 11, 12, 13, 14, 15) of the ground handling device (1) move beyond the steep slope (16) when driving onto the reference surface (25).

10. A method for checking the functionality of fall sensors (8, 9, 10, 11, 12, 13, 14, 15) of an autonomously moving ground processing device (1), wherein the ground processing device (1) has a housing (2), a drive mechanism (3) for moving the ground processing device (1) within an environment, at least one fall sensor (8, 9, 10, 11, 12, 13, 14, 15) disposed on the bottom side (7) of the housing (2) facing the ground (6), and a computing device (5), wherein, The fall sensors (8, 9, 10, 11, 12, 13, 14, 15) detect the distance (a) from the ground processing equipment (1) to the ground (6), and wherein the computing device (5) compares the distance (a) detected by the fall sensors (8, 9, 10, 11, 12, 13, 14, 15) with the extreme value of a defined steep slope (16), and if the distance (a) is greater than the defined extreme value, then as a detection result, it determines that a steep slope (16) exists and transmits a control command to the drive device (3) to change the movement of the ground processing equipment (1), characterized in that the ground processing equipment (1) is in the equipment housing (2) The bottom side (7) of the ground handling equipment (1) has a plurality of fall sensors (8, 9, 10, 11, 12, 13, 14, 15) arranged sequentially along the direction of the outer contour (17) of the bottom side (7). The computing device (5) compares the detection results of the fall sensors (8, 9, 10, 11, 12, 13, 14, 15) with a defined reference result. If the detection result is inconsistent with the reference result, it determines that a functional failure has occurred in the preceding fall sensor (8, 9, 10, 11, 12, 13, 14, 15). The computing device (5) continuously detects the same fall sensors in time as the ground handling equipment (1) moves. The distances (a) detected by the sensors (12, 13, 14, 15) are compared with each other, and if these distances (a) are the same, it is determined that the fall sensor (12, 13, 14, 15) has malfunctioned, and / or wherein the computing device (5) compares the detection result of one fall sensor (8, 9, 10, 11, 12, 13, 14, 15) with the detection result of at least one other fall sensor (8, 9, 10, 11, 12, 13, 14, 15) following the fall sensor (8, 9, 10, 11, 12, 13, 14, 15) along the direction of travel, and if the distances (a) detected by the fall sensor (8, 9, 10, 11, 12, 13, 14, 15) are the same, and if the distances (a) are the same, it is determined that the fall sensor (12, 13, 14, 15) has malfunctioned, and / or wherein the computing device (5) compares the detection result of one fall sensor (8, 9, 10, 11, 12, 13, 14, 15) with the detection result of at least one other fall sensor (8, 9, 10, 11, 12, 13, 14, 15) following the ... is the same, and if the distances (a) are the same, it is determined that the fall sensor (12, 13, 14, 15) has malfunctioned, and / or wherein the distances (a) detected by the fall sensor (8 If the fall sensors (0, 11, 12, 13, 14, 15) detect the steep slope (16), and the fall sensors (8, 9, 10, 11, 12, 13, 14, 15) did not detect the steep slope (16) earlier, it is determined that the fall sensors (8, 9, 10, 11, 12, 13, 14, 15) have malfunctioned. In this case, the fall sensors (8, 9, 10, 11, 12, 13, 14, 15) located behind the fall sensors assume the safety function of the fall sensors (8, 9, 10, 11, 12, 13, 14, 15) that have malfunctioned, the ground handling equipment (1) will temporarily continue to operate.

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