Ground processing machine and method for operating such a ground processing machine

Abstract

A ground processing machine, in particular a ground compacting machine, comprises at least one detection unit (28) supported on a machine body (12) for contactless detection of at least one ground parameter, and removal means (30) associated with the at least one detection unit (28) for removing material, preferably liquid material, which accumulates on the surface of the ground (22) and impairs the detection function of the at least one detection unit (28). The at least one removal means (30) comprises a removal unit (32, 34) on each side of the detection unit (28) assigned thereto in the machine longitudinal direction (L). Alternatively or additionally, the at least one removal means can be designed as an air flow removal means or as a wiping removal means.

Description

Technical Field

[0001] The present invention relates to a ground processing machine, such as a ground compactor, and a method for operating such a ground processing machine. Background Technology

[0002] When compacting ground materials (such as asphalt) using a ground compactor comprising one or more ground processing rollers, the compaction status is typically identified in a non-contact manner, such as by scanning the ground material being compacted by ground radar, commonly known as GPR (Ground Penetrating Radar). To prevent ground material from adhering to the ground processing rollers, the surface of the rollers is wetted with a liquid (such as water or water containing additives), thus forming a liquid film on the compacted surface. This liquid film can be reinforced, especially in rainy conditions, by rainwater accumulating on the surface. This accumulated liquid film on the surface impairs the functionality or accuracy of this non-contact method of detecting or providing information about the compaction status.

[0003] US 2023 / 0060768 A1 discloses a ground compactor designed as a ground compactor, wherein an exhaust pipe of an internal combustion engine's exhaust system extends from the side of the machine body and points in the direction the ground compactor travels over the ground. A detection unit is supported on the exhaust pipe and includes a dielectric sensor for providing information representing the state of the compacted ground. The detection unit is supported on the exhaust pipe such that it is positioned behind the exhaust pipe as the ground compactor moves in a forward direction. Exhaust gas discharged from the exhaust pipe and directed in the direction of the ground surface traveled by the ground compactor is intended to remove liquid accumulated on the ground surface, creating a substantially liquid-free surface area directly in front of the detection unit as the ground compactor moves in the forward direction. Summary of the Invention

[0004] The object of the present invention is to provide a ground processing machine, particularly a ground compactor, and a method for operating such a ground processing machine, by means of which information representing the compaction state of the ground over which the ground processing machine has passed can be substantially avoided.

[0005] According to a first aspect of the invention, this objective is achieved by a ground processing machine (particularly a ground compactor) comprising: - At least one detection unit, supported on the body, for non-contact detection of at least one ground parameter. - A removal device associated with at least one detection unit, the removal device having at least one removal unit for removing material, preferably a liquid material, that accumulates on the surface of the ground and impairs the detection function of the at least one detection unit.

[0006] In the design of the ground processing machine according to the present invention, at least one removal device includes a removal unit on each side of the detection unit assigned to it along the longitudinal direction of the machine.

[0007] By arranging two removal units on either side of the corresponding detection unit in the longitudinal direction of the machine, it is possible to remove material (especially liquid material) from the surface of the ground, which has been compacted by the ground machine as it passes, regardless of the direction in which the ground processing machine moves. This material would impair the detection accuracy of the detection unit. Therefore, regardless of the direction of movement of the ground processing machine on the ground, the detection unit always moves in the ground area where material impairing its detection accuracy has been substantially removed, thus enabling the provision of information representing the ground condition (e.g., its compaction state) with high accuracy.

[0008] In an alternative design of the ground processing machine according to the invention, which can also be combined with the design described above according to the invention, at least one removal device is designed as an airflow removal device and includes a compressed air source in order to remove material covering the ground particularly effectively.

[0009] By providing a removal device that uses airflow to remove material that impairs the detection function, particularly large amounts of material buildup can be reliably removed. For example, it is advantageous for a ground processing machine to be designed as a rotary tiller (Bodenfräse), which mills the ground material using chisels mounted on rotating rollers. The milled material can accumulate in areas where information, for example, representing the thickness of the ground material is provided by the detection unit, and thus tends to impair the detection accuracy or function of the detection unit. Since this type of rotary tiller (unlike a ground compactor) typically moves only in one direction when milling the ground material, it is essentially sufficient to arrange the removal unit only in the area in front of the detection unit or to allow the removal unit to operate to remove granular or particulate milled ground material.

[0010] At least one removal unit, preferably each removal unit, of the airflow removal device may include at least one compressed air nozzle configured to discharge compressed air. By using compressed air as the medium for removing material (especially liquid material) from the ground over which the ground compactor passes, abrasion-free interaction is achieved between the removal device and the ground. Furthermore, the use of compressed air makes it possible to provide a significantly stronger airflow (particularly independent of the operating conditions of the internal combustion engine used as the drive unit) for removing material from the ground surface.

[0011] To effectively remove material, the compressed air source can be configured to provide compressed air with a pressure in the range of 4 to 8 bar when compressed air is used as the removal medium.

[0012] In order to provide or direct compressed air to a desired area in a defined manner, it is recommended that the compressed air source include a compressor and / or a compressed air reservoir and / or a valve unit for selectively activating one of the removal units of the removal device, respectively.

[0013] In order to achieve effective distribution of compressed air flow on the surface area of ​​the ground where the material to be removed is located, at least one compressed air nozzle can be formed in each discharge unit of the airflow removal device to discharge a fan-shaped compressed air flow.

[0014] In order to use compressed air as a removal medium independently of the movement direction of the ground processing machine, it can be configured such that one of the discharge units of the airflow removal device is arranged in front of the detection unit of the airflow removal device relative to the first movement direction of the ground processing machine, which is oriented substantially along the longitudinal direction of the machine, and is configured to discharge compressed air in a first main discharge direction oriented toward the ground and in the first movement direction; and another discharge unit of the airflow removal device is arranged in front of the detection unit of the airflow removal device relative to a second movement direction oriented substantially opposite to the first movement direction of the ground processing machine, and is configured to discharge compressed air in a second main discharge direction oriented toward the ground and in the second movement direction.

[0015] In another alternative design of the ground processing machine according to the invention, at least one removal device is configured as a wiping removal device.

[0016] At least one removal unit of the wiping removal device, preferably each removal unit, may include at least one removal mechanism that can be introduced into the removal device on the ground for removing material.

[0017] To enable or disable the removal unit constructed in this manner, a motion unit associated with at least one removal mechanism may be provided for moving the at least one removal mechanism in a direction toward the ground and in a direction away from the ground.

[0018] At least one removal mechanism may be formed, for example, by using a wiping lip and / or textile material and / or in the form of a broom.

[0019] In order to provide a removal function generated by the physical interaction between at least one removal mechanism and the ground, independent of the direction of movement of the ground compactor, it is proposed that one of the discharge units of the wiping removal device is arranged in front of the detection unit assigned to the wiping removal device, with respect to a first direction of movement of the ground processing machine oriented substantially along the longitudinal direction of the machine, and another discharge unit of the wiping removal device is arranged in front of the detection unit assigned to the wiping removal device, with respect to a second direction of movement oriented substantially opposite to the first direction of movement of the ground processing machine.

[0020] To identify whether the removal device needs to be activated, a material detection unit can be set up to detect the material covering the ground.

[0021] For example, a material detection unit can be configured for optical or capacitive detection of materials covering the ground.

[0022] In particular, when the ground processing machine is designed as a ground compactor, at least one drive unit may include at least one ground processing roller that can rotate about the roller rotation axis.

[0023] To avoid the detection device and its associated removal device adversely affecting the operator's field of vision when operating the ground processing machine, it is recommended that at least one detection unit and its associated removal device be arranged on the ground-facing underside of the machine body.

[0024] Alternatively, the machine can be configured such that two drive units are arranged on the machine body, spaced apart from each other in the longitudinal direction of the machine, wherein the ground processing machine can move substantially along the longitudinal direction of the machine on the ground to be processed by means of the drive units, and at least one detection unit and its associated removal device are positioned between the two drive units in the longitudinal direction of the machine and / or laterally in an extension area of ​​the machine body, such that the detection unit and its associated removal device (particularly laterally in the longitudinal direction of the machine) do not substantially protrude from the machine body.

[0025] According to another aspect of the invention, the above objective is achieved by a method for operating a ground processing machine constructed according to the invention, the method comprising the following measures: a) When the ground processing machine moves in a first direction of motion that is substantially oriented along the longitudinal direction of the machine, a removal unit of a removal device assigned to at least one detection unit is activated, the removal unit being arranged in front of at least one detection unit in the first direction of motion for removing material; b) When the ground processing machine moves in a second motion direction substantially opposite to the first motion direction, a removal unit of the removal device assigned to at least one detection unit is activated. This removal unit is arranged in front of at least one detection unit in the second motion direction for removing material.

[0026] In order to use only the removal unit that is in front of the associated detection unit when the ground processing machine moves on the ground in each case, it can be configured such that when the removal unit arranged in front of at least one detection unit along the first direction of movement is enabled, the removal unit arranged in front of at least one detection unit along the second direction of movement is disabled, and when the removal unit arranged in front of at least one detection unit along the second direction of movement is enabled, the removal unit arranged in front of at least one detection unit along the first direction of movement is disabled.

[0027] To avoid unnecessary operation of the removal device, it is recommended that the removal device associated with at least one detection unit be activated to remove the material only when the ground is detected to be covered with material. Attached Figure Description

[0028] The present invention will now be described in detail with reference to the accompanying drawings. The drawings show: Figure 1 This is a side view of a ground processing machine constructed as a ground compactor, which has a detection unit and an associated removal device; Figure 2 yes Figure 1 A top view of the area within the body of the ground compactor that supports the detection unit and associated removal device; Figure 3 This is a schematic diagram of an alternative design type of removal device associated with the detection unit. Detailed Implementation

[0029] Figure 1 A side view of a ground processing machine 10 configured as a ground compactor is shown. This ground processing machine 10 is configured as a so-called articulated ground compactor, wherein two steering supports 14, 16 are pivotally supported in the longitudinal direction L of the machine about a substantially vertically oriented pivot axis on a body generally indicated by 12, and are spaced apart from each other. In the illustrated design example, drive units 18, 20 configured as ground processing rollers or compaction rollers are supported on each steering support 14, 16 so as to be positioned around a substantially vertically oriented pivot axis. Figure 1The drawing plane rotates orthogonally to the axis of rotation. By rolling the drive units 18, 20 on the surface to be processed (particularly to be compacted) 22, the surface processing machine 10 moves substantially in the longitudinal direction L of the machine, or in a first direction of motion B1, or in a second direction of motion B2 substantially opposite to the first direction of motion B1. For this purpose, at least one of the surface processing rollers providing the drive units 18, 20 can be driven to rotate.

[0030] On the body 12, the operating table 24 is supported between two steering supports 14 and 16 along the longitudinal direction L of the machine, and the operator of the ground processing machine 10 can find space on the operating table 24. In the area of ​​the body 12 located below the operating table 24, the various units of the ground processing machine 10 are respectively placed on or in the body 12.

[0031] It should be noted that, Figure 1 The design of the ground processing machine 10 shown as an articulated ground compactor is merely illustrative and represents several different design variations. For example, this type of ground processing machine may also include a rear vehicle connected to the front vehicle via an articulated joint, wherein the drive unit and operating platform may be, for example, located on the rear vehicle, and drive units configured as ground processing rollers may be respectively provided on the front and rear vehicles. Such drive units may also include ground processing rollers or multiple rubber wheels arranged sequentially along their longitudinal direction. For example, drive wheels arranged on the rear vehicle may also form such a drive unit.

[0032] In the region of the body 12 located between the two drive units 18, 20 in the longitudinal direction L of the machine, the detection unit 28 is supported on the lower side 26 of the body 12 facing the ground 22. The detection unit, for example designed as a ground-penetrating radar, can provide information representing the state (particularly the compaction state) of the ground 22 as the ground processing machine 10 passes over it. This information can be used to determine whether it is necessary to pass over it again to compact the ground 22 and / or, for example, whether a vibration excitation device associated with at least one of the drive units 18, 20 should be activated or deactivated.

[0033] To prevent ground materials (especially when compacting asphalt, which is the structural material of ground 22) from adhering to the outer peripheral surfaces of the ground processing rollers providing the drive units 18, 20, it is generally known to spray these surfaces with a liquid (such as water or water containing additives) to wet them. This liquid is also transferred to ground 22 via drive units 18, 20 and accumulates on its surface. Furthermore, rain can form a liquid film on the surface of ground 22, which can impair the detection accuracy of detection unit 28.

[0034] To address this issue, a removal device, generally designated 30, is provided on the ground processing machine 10 in association with the detection unit 28. The removal device 30 is used to remove material, particularly liquid, that accumulates on the surface of the ground 22 and could impair the detection accuracy of the detection unit 28 during the movement of the ground processing machine 10 in the longitudinal direction L of the machine.

[0035] exist Figure 1 and Figure 2 In the illustrated design variant, the removal device 30 is configured as an airflow removal device 30'. Along the longitudinal direction L of the machine, the removal device 30 includes removal units 32 and 34 on both sides of the detection unit 28. In the illustrated design example, each removal unit 32 and 34 includes compressed air nozzles 36 and 38, through which a fan-shaped compressed airflow can be discharged.

[0036] The removal unit 32 is positioned on the lower side 26 of the body 12 such that when the ground processing machine 10 moves in the first direction of motion B1, it is in front of the associated detection unit 28, thereby guiding the compressed airflow onto the surface area of ​​the ground 22, over which the detection unit 28 subsequently moves. In this configuration, the detection unit 32 discharges the compressed airflow in a first main discharge direction H1 via its compressed air nozzle 36. This first main discharge direction H1 is inclined downwards, i.e., toward the ground 22, and oriented in the first direction of motion B1. This arrangement of the compressed airflow relative to the vertical direction substantially orthogonal to the surface of the ground 22 and away from the detection unit 28 ensures that the material removed from the ground 22 moves away from the detection unit 28, thus eliminating the risk of material removed by the removal device 30 moving into the area currently being traversed and scanned by the detection unit 28 in the process.

[0037] The removal unit 34 of the removal device 30 is positioned on the lower side 26 of the body 12 such that when the ground processing machine moves in the second direction of motion B2, the removal device is located in front of the associated detection unit 28 and generates a compressed airflow oriented in the second main discharge direction H2 toward the ground 22 and oriented in the second direction of motion B2. Therefore, the compressed airflow generated by the removal unit 34 or its compressed air nozzle 38 is also guided away from the associated detection unit 28, ensuring that when the ground processing machine 10 moves in the second direction of motion B2, the material removed or blown away by the removal device 30 does not move to the area of ​​the ground 22 above which the detection unit 28 is currently located.

[0038] To generate a compressed airflow that can be selectively discharged via removal unit 32 or removal unit 34, removal device 30 includes a compressed air source 40 having a compressor 42 and a compressed air reservoir 44 supplied by the compressor 42. Compressed air can be selectively directed from the compressed air reservoir 44 to removal unit 32 or removal unit 34 via valve unit 46. Valve unit 46 is controlled by control unit 48, which receives control commands, for example, via an operating element operated by an operator in control panel 24 or an automated processing system, and can accordingly control valve unit 46, and may also control compressor 22.

[0039] For example, an operator can visually inspect the surface of floor 22 to determine whether removal unit 30 needs to be activated to remove material from the surface of floor 22. If the operator identifies the presence of material, particularly a liquid film, on the surface of floor 22, which may impair the detection function of detection unit 28, the operator can activate removal unit 30 by actuating the associated operating mechanism.

[0040] Alternatively or additionally, information indicating the presence of such a material on the surface of ground 22 can also be provided by the material detection unit 50. This material detection unit 50 can be designed, for example, as a camera, and optically scan ground 22. Image evaluation can identify whether ground 22 is covered by such a material. In this case, the corresponding information can be displayed to the operator in the control panel 24, allowing the operator to put the removal device 30 into operation, whereby, for example automatically or again with the operator's input, one of the two removal units 32, 34 (located in front of the detection unit 28 during the movement of the ground processing machine 10) is activated, while the other removal unit remains inactive.

[0041] Alternatively, if the information provided by the material detection unit 50 indicates the presence of such material, the control unit 48 may be automatically activated to control the valve unit 46, or, if necessary, to activate the compressor 22 to enable the removal unit 30 or to start the removal units 32, 34 running in front of the detection unit 28 without operator interaction.

[0042] Alternatively or additionally, the material detection unit 50 may also be designed to detect the coverage status of the ground 22 capacitively, or may include the detection unit 28 itself. By evaluating the ground information provided by the detection unit 28, abrupt changes or fluctuations that cannot be explained by the properties of the ground 22 itself (e.g., in the detected density of the material on the ground 22) can be identified, thereby identifying the presence of a liquid film on the surface of the ground 22. If such a sudden change or fluctuation in density value is detected, this is usually due to the ground 22 being covered by material (especially liquid). The operator can then be instructed to activate the removal unit 30. Alternatively, in a suitable design, the removal unit 30 can be activated automatically.

[0043] It should be noted that, in Figure 1 and Figure 2 In the removal device 30 shown and designed as an airflow removal device 30', each of the two removal units 32, 34 may also include a plurality of airflow nozzles that follow each other, for example, transverse to the longitudinal direction L of the machine. Through these airflow nozzles, the material covering the ground 22 can be moved either along the longitudinal direction L of the machine or transverse to the longitudinal direction L of the machine, but in any case, it is moved in a direction away from the detection unit 28.

[0044] Figure 3 Alternative design types for this removal device are shown. Figure 3 The removal device 30 shown is designed as a wiping removal device 30. Each of the two removal units 32, 34 includes a wiping mechanism 52, 54 designed as a wiping lip in the illustrated design example, and when the respective removal unit 32, 34 is activated, the wiping mechanism 52, 54 rests against the surface of the ground 22, thereby wiping away the material, especially liquid material, accumulated on the ground 22 from the area where the detection unit 28 subsequently moves.

[0045] To enable or disable removal units 32 and 34, a motion unit 56 and 58 are respectively assigned to them, which is designed as, for example, a hydraulic cylinder, an electric motor drive, or a similar device. Figure 3 In the operating state shown, the ground processing machine 10 moves on the ground 22 along the first direction of movement B1, the activated removal unit 32 is lowered in the direction toward the ground 22 so that its removal mechanism 52 wipes the surface of the ground 22, while the other removal unit 34 is raised and its removal mechanism 54 does not contact the ground 22.

[0046] As an alternative or supplement to designing the removal mechanisms 52, 54 as wiping lips, they can also be formed of textile materials, i.e., as wiping cloths or wiping mops, to absorb materials (especially liquid materials) covering the ground 22, or to remove them from the areas that the detection unit 28 will move through during the movement of the ground processing machine 10.

[0047] The removal device 30, designed and arranged according to the invention, makes it possible to remove material (especially liquid material) covering the ground 22—particularly in the area through which the detection unit 28 will move during its movement—by the ground processing machine 10. Because the removal device 30 and the detection unit 28 that cooperates with it are positioned on the lower side 26 of the machine body 12, these system areas of the ground processing machine 10 do not protrude from the sides of the machine body 12, i.e., do not protrude laterally or along the longitudinal direction L of the machine, thus ensuring that the operator's field of vision in the operating table 24 is not adversely affected by the detection unit 28 or the associated removal device 30.

[0048] Finally, it should be noted that, especially if multiple such detection units are installed on the ground processing machine, and these detection units are designed to detect various parameters characterizing the ground condition (e.g., the temperature of ground 22), it is not necessarily necessary to assign a removal device to each such detection unit. If the function or detection accuracy of such detection units is not impaired or is only slightly impaired by materials (especially liquid materials) that may cover the surface of ground 22, then it is unnecessary to assign a removal device to such detection units.

[0049] It should also be noted that, Figure 2 and Figure 3 The two design types of the detection device shown can be combined with each other. Therefore, for example, each of the two removal units arranged along the longitudinal direction of the machine on both sides of the detection unit can be designed to output compressed airflow and engage in direct physical interaction with the ground surface. In principle, it is also conceivable that one of the two removal units associated with the detection unit is designed to output compressed airflow, such as... Figure 2 As shown, the other of the two removal units is designed to have direct physical interaction with the ground, such as... Figure 3 As shown.

[0050] In the design of the removal device described above with reference to a ground processing machine designed as a ground compactor, it is particularly advantageous to use two removal units separately, so as to remove the material accumulated in the ground area in front of the detection unit independently of the working direction of the ground compactor. In the design of the ground processing machine, for example as a rotary tiller, it can be considered that this type of rotary tiller typically moves only in one working direction to mill the ground material. For this reason, the removal unit following in the working direction of the detection unit can be omitted, and only one removal unit can be provided, which removes the milled material accumulated in the ground area in front of the detection unit. In conjunction with this design of the ground processing machine, it is particularly advantageous to use an airflow removal device or a wiping removal device, which can reliably remove relatively heavy particles or granules from the milled ground material. When using a wiping removal device, its removal mechanism can be constructed, for example, like a broom or brush, to sweep the granular material from the area assigned to the detection unit and located in front of its working direction. In particular, the removal mechanism can be designed, for example, to rotate about a substantially vertically oriented axis of rotation in order to remove granular or particulate material by means of the rotational motion of the removal mechanism.

Claims

1. A ground processing machine, particularly a ground compactor, comprising: - At least one detection unit (28), supported on the body (12), for detecting at least one ground parameter in a non-contact manner. - A removal device (30) associated with at least one of the detection units (28), the removal device (30) having at least one removal unit (32, 34) for removing material, preferably a liquid material, accumulated on the surface of the ground (22) and impairing the detection function of at least one of the detection units (28). The feature is that at least one of the removal devices (30) includes a removal unit (32, 34) on each side of the detection unit (28) assigned to the removal device (30) along the longitudinal direction (L) of the machine.

2. The ground processing machine according to claim 1 or the preamble of claim 1, characterized in that, At least one removal device (30) is designed as an airflow removal device (30') and includes a compressed air source (40).

3. The ground processing machine according to claim 2, characterized in that, At least one removal unit (32, 34) of the airflow removal device (30'), preferably each removal unit (32, 34), includes at least one compressed air nozzle (36, 38) designed to discharge compressed air.

4. The ground processing machine according to claim 2 or 3, characterized in that, The compressed air source (40) is designed to provide compressed air with a pressure range of 4 bar to 8 bar.

5. The ground processing machine according to any one of claims 2 to 4, characterized in that, The compressed air source (40) includes a compressor (42) and / or a compressed air reservoir (44) and / or a valve unit (46) for selectively activating one of the removal units (32, 34) of the removal device (30).

6. The ground processing machine according to any one of claims 2 to 5, characterized in that, At least one compressed air nozzle (36, 38) is formed at each discharge unit (32, 34) of the airflow removal device (30') for discharging a fan-shaped compressed airflow.

7. The ground processing machine according to any one of claims 2 to 6, referring to claim 1, characterized in that, One of the discharge units (32, 34) of the airflow removal device (30') is arranged in front of the detection unit (28) assigned to the airflow removal device (30') relative to a first direction of motion (B1) of the ground processing machine (10) which is oriented substantially along the longitudinal direction (L) of the machine, and is designed to discharge compressed air in a first main discharge direction (H1) oriented toward the ground (22) and in the first direction of motion (B1). The other discharge unit of the airflow removal device (30') is arranged in front of the detection unit (28) assigned to the airflow removal device (30') relative to a second direction of motion (B2) which is substantially opposite to the first direction of motion (B1) of the ground processing machine (10), and is designed to discharge compressed air in a second main discharge direction (H2) oriented toward the ground (22) and in the second direction of motion (B2).

8. The ground processing machine according to any one of claims 1 to 7 or the preamble of claim 1, characterized in that, At least one removal device (30) is designed as a wiping removal device (30”).

9. The ground processing machine according to claim 8, characterized in that, At least one removal unit (32, 34) of the wiping removal device (30), preferably each removal unit (32, 34), includes at least one removal mechanism (52, 54) which can be introduced into the removal device on the ground (22) for removing material.

10. The ground processing machine according to claim 9, characterized in that, A motion unit (56, 58) is provided in association with at least one of the removal mechanisms (52, 54) for moving at least one of the removal mechanisms (52, 54) in a direction toward the ground (22) and in a direction away from the ground (22).

11. The ground processing machine according to claim 9 or 10, characterized in that, At least one of the wiping mechanisms (52, 54) is designed to take the form of a wiping lip and / or textile material and / or a broom.

12. The ground processing machine according to any one of claims 8 to 11, referring to claim 1, characterized in that, One of the discharge units (32, 34) of the wiping removal device (30) is arranged in front of the detection unit (28) of the wiping removal device (30) relative to a first movement direction (B1) of the ground processing machine (10) which is oriented substantially along the longitudinal direction (L) of the machine, and the other removal unit of the wiping removal device (30) is arranged in front of the detection unit (28) of the wiping removal device (30) relative to a second movement direction (B2) which is oriented substantially opposite to the first movement direction (B1) of the ground processing machine (10).

13. The ground processing machine according to any one of claims 1 to 12, characterized in that, A material detection unit (50) is provided for detecting the material covering the ground (22).

14. The ground processing machine according to claim 13, characterized in that, The material detection unit (50) is designed for optical or capacitive detection of the material covering the ground (22).

15. The ground processing machine according to any one of claims 1 to 14, characterized in that, At least one drive unit (18, 20) includes at least one ground processing roller capable of rotating about the roller rotation axis.

16. The ground processing machine according to any one of claims 1 to 15, characterized in that, At least one detection unit (28) and its associated removal device (30) are arranged on the underside (26) of the body (12) facing the ground (22).

17. The ground processing machine according to any one of claims 1 to 16, characterized in that, Two drive units (18, 20) are provided on the body (12), the two drive units are arranged at intervals from each other in the longitudinal direction (L) of the machine, wherein the ground processing machine (10) is able to move substantially along the longitudinal direction (L) of the machine on the ground (22) to be processed by means of the drive units (18, 20), and at least one detection unit (28) and its associated removal device (30) are positioned between the two drive units (18, 20) along the longitudinal direction (L) of the machine and / or laterally in the extended area of ​​the body (12).

18. A method for operating a ground processing machine (10) according to claim 1 or any one of claims 2 to 17, comprising the following measures: a) When the ground processing machine (10) moves in a first direction of motion (B1) oriented substantially along the longitudinal direction (L) of the machine, a removal unit (32) of a removal device (30) assigned to at least one detection unit (28) is activated, the removal unit (32) being arranged in front of at least one detection unit (28) in the first direction of motion (B1) for removing material; b) When the ground processing machine (10) moves in a second direction of motion (B2) substantially opposite to the first direction of motion (B1), a removal unit (34) of the removal device assigned to at least one detection unit (28) is activated, the removal unit (34) being arranged in front of at least one detection unit (28) in the second direction of motion (B2) for removing material.

19. The method according to claim 18, characterized in that, When the removal unit (32) arranged in front of at least one detection unit (28) along the first movement direction (B1) is enabled, the removal unit (34) arranged in front of at least one detection unit (28) along the second movement direction (B2) is disabled; and when the removal unit (34) arranged in front of at least one detection unit (28) along the second movement direction (B2) is enabled, the removal unit (32) arranged in front of at least one detection unit (28) along the first movement direction (B1) is disabled.

20. The method according to claim 18 or 19, characterized in that, The removal device (30) associated with at least one detection unit (28) is activated to remove the material only when the ground (22) is detected to be covered by material.

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