Autonomously travelling ground treatment apparatus with multiple fall sensors

Abstract

This invention relates to an autonomous ground processing device, comprising a housing, a drive unit, a detection unit, and a computing unit. The detection unit includes a fall sensor for detecting the distance from the ground processing device to the ground. If the distance exceeds an extreme value defined for a steep slope, the movement of the ground processing device is altered. It is proposed that the ground processing device have multiple outer fall sensors arranged sequentially along the outer contour of its bottom side, and multiple inner fall sensors offset inward from the arrangement of the outer fall sensors. These fall sensors are interconnected in an evaluation circuit of the detection unit, such that the detection signals of all inner fall sensors can be evaluated independently of the detection signals of all outer fall sensors. All inner fall sensors are connected to a common first evaluation circuit of the detection unit, and all outer fall sensors are connected to a common second evaluation circuit designed separately from the first evaluation circuit.

Description

Technical Field

[0001] This invention relates to an autonomous ground treatment device, comprising a housing, a drive mechanism for moving the ground treatment device within an environment, a detection device for detecting environmental features within the environment, and a computing device. The computing device is configured to transmit control commands to the drive mechanism based on the environmental features detected by the detection device. The detection device has 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 from the ground treatment device to the ground. The computing device is configured to control the drive mechanism to alter the movement of the ground treatment device if the distance detected by the fall sensor exceeds an extreme value defined as a steep slope. 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 avoids collisions 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 further improve the operational safety of ground processing equipment.

[0007] To address the aforementioned technical problem, it is proposed that an autonomous ground handling device have 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 from the arrangement of the outer fall sensors. These fall sensors are interconnected in the evaluation circuit of the detection device, such that the detection signals of all inner fall sensors can be evaluated independently of the detection signals of all outer fall sensors. All inner fall sensors are connected in a common first evaluation circuit of the detection device, and all outer fall sensors are connected in a common second evaluation circuit designed separately from the first evaluation circuit.

[0008] According to the invention, the ground handling equipment thus has a plurality of fall sensors arranged in two rows, viewed from the center of the bottom side of the equipment housing, starting from the outer contour of the bottom side of the ground handling equipment. The second row of fall sensors, arranged on the inner side, provides redundancy for events where a fall sensor in the first row on the outer side fails and cannot detect a steep slope. The fall sensors of the ground handling equipment are thus advantageously arranged in a double-row configuration, successively arranged in two rows when viewed radially along the outer contour. Therefore, when a fall sensor in the first row closest to the outer contour fails, the ground handling equipment can be prevented from falling onto a steep slope. This provides the so-called "one-time fault tolerance" required for the ground handling equipment, ensuring reliable operation even in the event of a failure.

[0009] These fall sensors are interconnected in the evaluation circuit of the detection device in such a way that the detection signals of the inner fall sensors can be evaluated independently of the detection signals of the outer fall sensors. Through this independent evaluability, the malfunction of a fall sensor can be attributed either to all the outer fall sensors or all the inner fall sensors. Here, the corresponding detection signal can preferably be assigned to a specific fall sensor, so that the evaluation circuit can definitively indicate whether an inner or outer fall sensor is involved, and in particular, also provide information about whether an inner or outer fall sensor is faulty.

[0010] Furthermore, the inner fall sensor is connected to the first evaluation circuit of the detection device, while the outer fall sensor is connected to a second evaluation circuit designed separately from the first evaluation circuit. According to this design, the ground handling equipment thus has two independent, evaluable measurement loops. Each evaluation circuit includes its own measurement loop or its own logic loop, which are connected only to the inner fall sensor or only to the outer fall sensor, respectively. Therefore, if one fall sensor fails, it can be clearly determined whether the failure is in the inner or outer fall sensor. Similarly, if one evaluation circuit fails, it can be clearly determined whether a fault exists in one of the evaluation circuits by comparing the detection signals of the fall sensors within the measurement loops and by comparing the detection signals between the two measurement loops.

[0011] It is recommended that the number of inner fall sensors correspond to the number of outer fall sensors. This way, the safety function of the outer fall sensors can be taken over by the inner fall sensors if one of them fails. If an outer fall sensor fails, the ground handling equipment first travels further down the steep slope until the edge of the slope reaches the detection area of ​​the inner fall sensors. The steep slope can then be identified and a corresponding response taken.

[0012] It is particularly recommended that the ground handling device have at least three outer fall sensors and at least three inner fall sensors. Particularly preferred is that the ground handling device is designed with four outer fall sensors and four inner fall sensors. In this design, for example, a substantially quadrilateral ground handling device can have one outer fall sensor and one inner fall sensor mounted on each side of the bottom of the device housing. When the ground handling device has a substantially circular outer profile in a bottom view, the four outer fall sensors and four inner fall sensors can preferably be arranged at 90-degree angular intervals, thereby providing fall protection when the ground handling device is moving forward or backward toward or parallel to the edge of a steep slope. More than four inner fall sensors and more than four outer fall sensors can also be used. This can also improve fall protection on steep slopes with irregular edge profiles, such as localized areas with a narrow strip shape, especially when the width of the strip is less than the distance between two adjacent wheels of a ground handling device arranged in the direction of travel.

[0013] According to a particularly advantageous embodiment, an inner fall sensor is spatially matched (or associated) with an outer fall sensor, based on their positions on the bottom side of the device housing, such that the inner and outer fall sensors form a sensor pair. Thus, each outer fall sensor has a backup sensor that assumes the safety function of the ground handling equipment in the event of a failure of the outer fall sensor. Preferably, the inner fall sensor is adjacent to the outer fall sensor, so that the ground handling equipment traverses a less critical section of the route until a steep slope can be detected by the inner fall sensor, in the event of a failure of the outer fall sensor. Referring to the circumferential direction along the outer contour of the bottom side of the device housing, the inner and outer fall sensors of the same sensor pair can be arranged directly adjacent to each other. Alternatively, the inner and outer fall sensors of the same sensor pair can also be circumferentially offset from each other, and thus, for example, the outer fall sensor is circumferentially in front of the inner fall sensor, but laterally offset from each other, i.e., arranged in a second row. Referring to the radial direction of the outer contour, there is, in principle, a certain distance between the outer drop sensor of the same sensor pair and its corresponding inner drop sensor arranged in the second row. This distance can be, for example, several millimeters to several centimeters. The greater the radial distance between the drop sensors of the same sensor pair, the later the inner drop sensor will detect the steep slope if the outer drop sensor fails prematurely. On the other hand, the greater the radial distance between the drop sensors of the same sensor pair, the better the detection areas of the outer and inner drop sensors can be distinguished from each other, allowing the computing device to reliably determine the failure of the drop sensor.

[0014] In a paired arrangement of inner and outer fall sensors, the computing device is configured to stop the ground handling equipment's movement if the inner fall sensor of a sensor pair detects a steep slope, even if the outer fall sensor of the same pair had not previously detected a steep slope. When the fall sensors are functioning correctly, as the ground handling equipment approaches a steep slope, the outer fall sensor detects the change in distance to the ground first, and subsequently, the associated inner fall sensor detects the same change in distance as the ground handling equipment continues to approach the steep slope. If the outer fall sensor fails, malfunctions, or provides an incorrect detection value at this point, the computing device may not be able to infer the presence of a steep slope within its detection area. In this case, the computing device of the ground handling equipment will not request a change of direction. Thus, the ground handling equipment continues to move towards the steep slope until it reaches the detection area of ​​the inner fall sensor. If the inner fall sensor can detect the steep slope at this point, the computing device infers that the outer fall sensor positioned in front along the direction of travel has failed. In this situation, the ground handling equipment takes safety measures, and the computing device shuts down the drive unit of the ground handling equipment, causing the ground handling equipment to stop. Thus, the ground handling equipment is safely shut down, or at least the drive unit is safely shut down, preventing the ground handling equipment from falling down the steep slope.

[0015] The computing device can be configured to transmit a fault signal to the user of the ground handling equipment if the inner fall sensor of a sensor pair detects a steep slope while the outer fall sensor of the same pair does not. Alternatively or additionally, the computing device can thus send a fault report to the user of the ground handling equipment instead of stopping its operation. According to an embodiment, the drive unit of the ground handling equipment can immediately stop and subsequently transmit a fault signal to the user. However, alternatively, the ground handling equipment can continue operating initially if the inner fall sensor assumes the safety function of the associated faulty outer fall sensor. The fault signal, i.e., information about the fall sensor malfunction, can then be communicated to the user, allowing the user to control the professionally operated ground handling equipment under functionally safe conditions. The fault signal can be conveyed to the user in the form of acoustic or optical information. The ground handling equipment may, for example, have a speaker or display screen that outputs the fault in voice or text form. Furthermore, the ground handling equipment may also have a communication interface that transmits the fault signal to an external terminal device of the user communicatively connected to the ground handling equipment. External terminal devices may be, for example, a user's mobile phone, tablet, or other mobile or static device, suitable for receiving fault signals and notifying the user of fault signals. It is particularly recommended that the user's external terminal device have an application optimized for communication with the ground processing equipment, especially the computing device of the ground processing equipment. The user can also, for example, transmit control commands to the computing device of the ground processing equipment via the application.

[0016] It is recommended that the inner fall sensors be arranged on the bottom side of the device housing such that the line connecting the two inner fall sensors arranged circumferentially along the outer contour will not intersect or 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 and 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 circumferentially 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 enters 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, thus 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 (and the external 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.

[0017] In conjunction with the foregoing recommendation, the center of gravity region is designed to be circular, and the center of gravity projected onto the bottom side of the device housing defines the center of the circular center of gravity region. According to this design, the projection of the center of gravity in the sensor plane lies precisely at the center of the circular center of gravity region, thus forming the center of the circle. The inner drop sensors and, if necessary, the outer drop sensors can be arranged uniformly or non-uniformly around the circular center of gravity region, provided that the lines connecting the sequentially arranged drop sensors are not tangents, secants, or intersections of the circle. Attached Figure Description

[0018] The present invention is further illustrated below with reference to embodiments. In the accompanying drawings:

[0019] Figure 1 A ground treatment apparatus according to the present invention is shown.

[0020] Figure 2 A side view of the ground treatment equipment preceding the steep slope is shown.

[0021] Figure 3 A bottom view of the ground processing equipment is shown.

[0022] Figure 4a The image shows a bottom view of the ground handling equipment as it approaches a steep slope.

[0023] Figure 4b The basis is shown when partially exceeding the steep slope. Figure 4a Ground treatment equipment,

[0024] Figure 4c The basis is shown when going further beyond the steep slope. Figure 4a and 4b Ground treatment equipment. Detailed Implementation

[0025] 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, may be movably supported on the housing 2. Additionally, the floor treatment device 1 may have a fan (not shown), for example, for 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.

[0026] 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 and a computing device 5, the computing device being designed to evaluate signals detected by the detection device 4. The detection device 4 has multiple sub-devices for detecting environmental features. On one hand, the detection device 4 is equipped with a ranging device that measures the distance to obstacles present in the environment. This ranging device is designed, for example, as 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 free of obstacles can be planned. In addition, the ground processing device 1 also has an infrared sensor located directly in front of the device housing 2 as part of the detection device 4. The infrared sensor is used to detect obstacles in the vicinity and thus also to avoid collisions. Furthermore, the detection device 4 is equipped with 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 indicates the change in height of the ground 6. The calculation device 5 evaluates the detected distance 'a' by comparing it with a defined extreme value. If the detected distance 'a' is greater than the defined extreme value, it is inferred that the ground processing device 1 is located next to the steep slope 16 on the ground 6. In order to prevent the ground handling equipment 1 from falling over 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, 15 are arranged along the outer contour 17 of the bottom side 7 of the equipment housing 2.

[0027] Figure 2 A side view of the ground handling equipment 1 located in front of the steep slope 16 is shown. The steep slope 16 has a height, which is the distance 'a' between two different planes of the ground 6, and this height is expected to cause damage to the ground 6 and / or the ground handling equipment 1 if it falls. Such a steep slope 16 can be, for example, a step. The calculation device 5 distinguishes the steep slope 16 according to defined extreme values, such that slight height changes at objects such as carpet edges or thresholds are not classified as dangerous. However, the steep slope 16 shown here is dangerous, so that the ground handling equipment 1 will tilt and fall off the steep slope 16 as it travels forward in the direction of the steep slope 16 due to the shift of the center of gravity 21 of the ground handling equipment 1.

[0028] Figure 3 The bottom side 7 of the ground handling equipment 1 is shown, which has fall sensors 8, 9, 10, 11, 12, 13, 14, and 15 arranged along the outer contour 17 of the equipment 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. These sensor pairs consist of an outer fall sensor 8 and an inner fall sensor 12, an outer fall sensor 9 and an inner fall sensor 13, an outer fall sensor 10 and an inner fall sensor 14, and an outer fall sensor 11 and an inner fall sensor 15. Each pair of fall sensors 8, 9, 10, 11, 12, 13, 14, 15 is essentially matched to one side of the outer contour to protect the ground handling equipment 1 from steep slopes 16 in the environment in four different directions. Figure 3 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.

[0029] 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 are separated by connecting lines 18 around the center of gravity region 19. 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 erroneous 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.

[0030] The following combination Figure 4a , 4b The functional principles of fall sensors 8, 9, 10, 11, 12, 13, 14, and 15 are explained in section 4c when ground handling equipment 1 travels forward in the direction of steep slope 16. Based on... Figure 4a The equipment housing 2 of the ground treatment equipment 1 is still completely located before the steep slope 16. According to Figure 4b 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 4c In the middle, the equipment housing 2 moved further beyond the steep slope 16.

[0031] exist Figure 4a 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 4b If 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. As a result, the ground handling equipment 1 continues to move beyond the steep slope 16 until it reaches... Figure 4cThe 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.

[0032] List of reference numerals

[0033] 1. Ground treatment equipment

[0034] 2 Equipment casing

[0035] 3. Drive unit

[0036] 4. Detection device

[0037] 5. Computing device

[0038] 6. Ground

[0039] 7. Bottom side

[0040] 8. Fall Sensor

[0041] 9. Fall Sensor

[0042] 10. Fall Sensors

[0043] 11. Fall Sensor

[0044] 12 Fall Sensors

[0045] 13 Fall Sensors

[0046] 14. Fall Sensor

[0047] 15. Fall Sensor

[0048] 16 Steep Slope

[0049] 17 Outer contour

[0050] 18 lines

[0051] 19. Center of gravity area

[0052] 20 Projections

[0053] 21 Center of gravity

[0054] 23 wheels

[0055] a distance

Claims

1. An autonomous ground processing device (1) comprising a housing (2), a drive unit (3) for moving the ground processing device (1) within an environment, a detection unit (4) for detecting environmental features within the environment, and a computing unit (5), wherein the computing unit is configured to transmit control commands to the drive unit (3) based on environmental features detected by the detection unit (4), wherein, The detection device (4) has at least one fall sensor (8, 9, 10, 11, 12, 13, 14, 15) arranged on the bottom side (7) of the device housing (2) facing the ground (6), the at least one fall sensor being configured to detect the distance (a) from the ground processing device (1) to the ground (6), and wherein the calculation device (5) is configured to control the drive device (3) to change the travel of the ground processing device (1) if the distance (a) detected by the fall sensor (8, 9, 10, 11, 12, 13, 14, 15) is greater than the extreme value of a defined steep slope (16), characterized in that the ground processing device (1) has a plurality of outer 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) of the device housing (2). The fall sensors (8, 9, 10, 11) and a plurality of reference outer fall sensors (8, 9, 10, 11) are arranged in a way that offsets the inner fall sensors (12, 13, 14, 15) inward, wherein these fall sensors (8, 9, 10, 11, 12, 13, 14, 15) are interconnected in the evaluation circuit of the detection device (4) such that the detection signals of all the inner fall sensors (12, 13, 14, 15) can be evaluated independently of the detection signals of all the outer fall sensors (8, 9, 10, 11), wherein all the inner fall sensors (12, 13, 14, 15) are connected to a common first evaluation circuit of the detection device (4), and wherein all the outer fall sensors (8, 9, 10, 11) are connected to a common second evaluation circuit designed separately from the first evaluation circuit.

2. A ground treatment device (1) according to claim 1, characterized in that The number of the inner drop sensors (12, 13, 14, 15) corresponds to the number of the outer drop sensors (8, 9, 10, 11).

3. A floor treatment apparatus (1) according to claim 1 or 2, characterized in that It is equipped with at least three outer drop sensors (8, 9, 10, 11) and at least three inner drop sensors (12, 13, 14, 15).

4. A ground treatment device (1) according to claim 1, characterized in that An inner drop sensor (12, 13, 14, 15) is spatially associated with an outer drop sensor (8, 9, 10, 11) with respect to their positions 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. A ground treatment device (1) according to claim 4, characterized in that The computing device (5) is configured to stop the movement of the ground processing equipment (1) if the fall sensors (12, 13, 14, 15) on the inner side of a sensor pair detect a steep slope (16), even though the fall sensors (8, 9, 10, 11) on the outer side of the sensor pair did not detect the steep slope (16) before.

6. A floor treatment apparatus (1) according to claim 4 or 5, characterized in that The computing device is configured to transmit a fault signal to the user of the ground processing device (1) if the inner fall sensor (12, 13, 14, 15) of a sensor pair detects a steep slope (16) while the outer fall sensor (8, 9, 10, 11) of the same sensor pair does not detect a steep slope (16).

7. A ground treatment device (1) according to claim 1, 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 the two inner drop sensors (12, 13, 14, 15) arranged circumferentially 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).

8. A ground treatment device (1) according to claim 7, characterized in that The connecting line (18) will not be tangent to the centroid region (19).

9. The ground treatment apparatus (1) according to claim 7 or 8, characterized in that, The center of gravity region (19) is designed in a circular shape, and the center of gravity (21) projected onto the bottom side (7) of the device housing (2) defines the center of the circular center of gravity region (19).

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