Autonomous construction equipment with safety features

Abstract

Equipment (100) for processing a surface (101), the equipment (100) comprising a control unit (150) for autonomous or semi-autonomous operation of the equipment (100), and an environment sensor module (140) arranged to monitor an environment of the equipment (100), where the environment sensor module (140) comprises a radar sensor and / or a lidar sensor arranged to emit a signal (210) in a plane (P) and to receive backscatter from the environment surrounding the equipment (100), where the environment sensor module (140) comprises one or more reflective objects (230) intersected by the plane (P), where the reflective objects (230) are angled at a reflection angle (r) relative to a normal (231) of the plane (P) of between 0-45 degrees.

Description

[0001] TITLE

[0002] AUTONOMOUS CONSTRUCTION EQUIPMENT WITH SAFETY FEATURES

[0003] TECHNICAL FIELD

[0004] The present disclosure relates to construction equipment such as floor grinders, power trowels and heavy duty floor cleaners suitable for processing concrete and stone surfaces. There is disclosed autonomous and semi- autonomous construction equipment comprising different types of sensor systems that improve safety at the work site.

[0005] BACKGROUND

[0006] Concrete surfaces are commonly used for flooring in both domestic and industrial facilities. The size of concrete surface floors ranges from a few square meters for a domestic garage floor and the like to thousands of square meters in larger industrial facilities. Concrete surfaces offer a cost efficient and durable flooring alternative and have therefore gained popularity over recent years.

[0007] Surface processing construction equipment such as floor grinders and power trowels can be used to efficiently process a hard material surface such as a concrete surface in order to, e.g., obtain a level surface having a uniform topology and / or a surface having a desired surface texture. Surface processing construction equipment can also be used to polish a surface in order to obtain a glossy surface finish, or to clean a surface.

[0008] Concrete surface processing is often a time consuming process, and an operator may have to spend several hours in guiding the surface processing construction equipment to complete a work task. To save on the amount of manual labor involved in surface processing, autonomous and semi- autonomous equipment is desired.

[0009] There is a desire for improved surface processing construction equipment. SUMMARY

[0010] It is an objective of the present disclosure to provide improved floor grinders and other types of surface processing equipment suitable for both manual operation and for autonomous or semi-autonomous operation. This objective is at least in part obtained by equipment for processing a surface according to the appended claims. The surface may be an indoor or outdoor floor, a concrete surface or a dirt surface.

[0011] Aspects of the disclosure relate to equipment which comprises a control unit for autonomous or semi-autonomous operation of the equipment, and an environment sensor module arranged to monitor an environment of the equipment. The environment sensor module comprises a radar sensor and / or a lidar sensor arranged to emit a signal in a plane and to receive backscatter from the environment surrounding the equipment. The environment sensor module also comprises one or more reflective objects, such as mirrors, intersected by the plane, where the reflective objects are angled at a reflection angle relative to a normal of the plane of between 0-45 degrees. A signal emitted from the environment sensor module is reflected by the one or more reflective objects, bounces off the surface in vicinity of the equipment, and is received again by the environment sensor module after having been reflected once more by the one or more reflective objects. This means that the environment sensor module will see the surface area around the equipment in some viewing angles and the surrounding environment (viewed horizontally) in some other viewing angles. The one or more reflective objects can be arranged to rotate about an axis of rotation that extends transversal to the plane. This way the viewing angles corresponding to reflection towards the surface area around the equipment changes over time, allowing the environment sensor module to scan the surface area around the equipment. The equipment optionally comprises a rotary encoder, in which case the control unit can be arranged to monitor an angle of rotation of the one or more reflective objects by the rotary encoder, and thus obtain information about which viewing angles that are reflected towards the surface and which viewing angles that propagate horizontally towards the surrounding environment.

[0012] According to a preferred embodiment, the equipment comprises an elongated handle portion that is pivotably attached to a body of the equipment. The handle portion is pivotable about a handle pivot axis, from an extended position where a distal end of the handle portion extends out from the equipment to allow manual guidance of the equipment by an operator, to a folded position where the handle portion extends from the handle pivot axis in over the equipment. The handle portion supports the environment sensor module at the distal end of the handle portion. A control unit of the equipment is arranged to monitor a surrounding environment of the equipment by the environment sensor module at least when the handle portion is in the folded position.

[0013] The handle portion of the equipment serves at least two different purposes. It can function as a handle to be used by an operator in guiding the equipment in use, and it also functions as a sensor support arm which positions the environment sensor module to monitor the environment surrounding the equipment and also a surface area in immediate vicinity to the equipment.

[0014] The surface processing equipment disclosed herein may be heavy-duty construction equipment such as floor grinders, power trowels, scarifiers, and trench compactors. However, many aspects of the present disclosure can also be applied in other types of surface processing equipment, such as floor cleaners and floor polishing equipment. The processed surfaces may comprise, e.g., concrete surfaces, stone surfaces, and asphalt surfaces, and also floor surfaces such as hardwood floors, tile, and vinyl surfaces. Some types of equipment, such as trench compactors, are suitable for processing dirt and gravel surfaces.

[0015] According to some aspects, the control unit is arranged to configure the equipment in a manual mode of operation or in an autonomous mode of operation. In other words, the manual mode of operation and the autonomous mode of operation are mutually exclusive meaning that the equipment cannot be configured in both modes at the same time. This contributes to safe operation and reduces the number of possible hazards events that may occur.

[0016] The equipment may also comprise at least one onboard safety system designed to mitigate hazardous events involving the equipment, such as collisions with objects or persons in vicinity of the equipment, and also damage to the equipment from falling off ledges and the like. The control unit can be arranged to inactivate the onboard safety system when the equipment is in the manual mode of operation and to activate the onboard safety system when the equipment is in the autonomous mode of operation. This allows an operator to perform more complex maneuvers in the manual mode of operation compared to what is allowed in the autonomous mode of operation. An operator manually guiding the equipment can, for instance, deliberately force the equipment up against an obstacle without risking inactivation or annoying warning signals due to triggering a safety function of the equipment. An operator guiding the machine manually has more freedom to maneuver in difficult situations. The at least one onboard safety system may comprise any of an object detection system, a surface monitoring system, an environment monitoring system, a collision avoidance system, or a collision warning system, as will be discussed in more detail below.

[0017] The control unit can also be configured to detect when the handle portion is in the folded position, and to allow autonomous or semi-autonomous operation of the equipment only when the handle portion is in the folded position. This way the equipment cannot make any sudden unexpected movement when the operator is in position to perform manual guidance of the machine, which is an advantage. By requiring that the handle portion is in the folded position in order for the machine to perform autonomous operation it becomes immediately clear that it is safe to approach the equipment when the handle portion is in the extended position.

[0018] The equipment may also comprise a remote control device with one or more joysticks. The control unit can then be configured to detect when the joystick or joysticks are at their respective center positions, and to allow autonomous operation of the equipment only when the joysticks are at their respective center positions. This way autonomous movement by the equipment will not interference with manual guidance of the equipment by an operator attempting to use the remote control to maneuver the equipment. According to some aspects, the equipment is only possible to control by the remote control device when the handle portion is in the folded position, and not when the handle portion is in the extended position.

[0019] The environment sensor module may comprise a radar sensor and / or a lidar sensor arranged to emit a signal in a plane and to receive backscatter from the environment surrounding the equipment. An angle of the plane relative to a horizontal plane in use, i.e., the horizontal plane when the surface processing construction equipment is supported on a horizontal surface, is normally smaller than 20 degrees, and preferably smaller than 10 degrees, and more preferably smaller than 5 degrees. In other words, the plane in which the signal from the sensor device is emitted is parallel or almost parallel to the surface to be processed by the equipment. The environment sensor module is arranged to detect objects in the surrounding environment and transmit data indicative of the detected objects to the control unit.

[0020] According to some aspects the environment sensor module is automatically inactivated when the handle portion is in the extended position.

[0021] According to some aspects the environment sensor module is automatically activated when the handle portion is in the folded position.

[0022] The control unit can, according to an example, be configured to detect a surface marker on the surface, and to control movement of the equipment in dependence of the position of the detected surface marker. This allows an operator of the equipment to deploy markers on the surface to be processed, e.g., in order to mark certain locations to be avoided, or to indicate a boundary of an area to be processed by the equipment. The surface markers can also be used as reference locations in constructing a map of the environment surrounding the equipment, as well as for localizing the equipment on the surface to be processed. The environment sensor module may be vibrationally decoupled from the distal end of the handle portion by one or more resilient elements. This way vibration from the equipment is suppressed and therefore does not influence the operation of the environment sensor module as much, which is an advantage.

[0023] According to some aspects, the equipment comprises one or more ground speed radar transceivers attached to the body of the equipment and facing the surface. The control unit can then be arranged to determine a speed over ground of the equipment by the one or more ground speed radar transceivers. The determined speed over ground can be used to control maneuvers of the equipment, to determine a travelled distance by the equipment, and to map an environment through which the equipment moves.

[0024] The equipment may comprise one or more wheel encoders arranged in connection to one or more traction wheels of the equipment. The control unit can then be configured to monitor movement of the traction wheels by the wheel encoders, in order to, e.g., determine how the equipment moves on the surface to be processed by the equipment. It may be particularly beneficial to use both the ground speed radar system or the environment sensor module and the wheel encoders, since then wheel slip can be monitored and controlled. Excessive wheel slip is often indicative of suboptimal propulsion by drive motors of the equipment. The control unit can use the signal from the ground speed radar system and / or from the environment sensor module together with the signals from the wheel encoders to control propulsion so as to keep wheel slip at acceptable levels. The control unit can according to an example be arranged to monitor a travelled distance of the equipment by the one or more wheel encoders and / or by the one or more ground speed radar transceivers. The environment sensor module can also be used to monitor travelled distance of course.

[0025] According to some aspects, the control unit is configured to prevent reversing of the equipment for more than a predetermined reversal limit distance. This way collisions when reversing may be avoided, in particular in cases where the environment sensor module does not have a clear view in the rearward direction.

[0026] The equipment may comprise one or more ultrasonic sensors attached to the equipment and facing out from the equipment. In this case the control unit can be arranged to detect obstacles in vicinity of the equipment by the one or more ultrasonic sensors. The ultrasonic sensors complement the other sensor systems of the equipment, thus providing redundancy and increased sensor coverage.

[0027] According to some aspects, the equipment comprises a pressure sensitive strip attached to at least one peripheral surface of the equipment. The control unit can then be arranged to detect obstacles in vicinity of the equipment by the pressure sensitive strip. The pressure sensitive strip provides yet another type of sensor that can be used to detect collision. The pressure sensitive strip reacts when subject to a pressure force from an object, which occurs if the pressure sensitive strip comes into contact with an object. This type of sensor does not need a clear view of the obstacle like the environment sensor module does, and therefore provides a good complement to the information obtained from the environment sensor module. The equipment may also detect collision with obstacles by monitoring a drive motor current of one or more traction wheels on the equipment, and to detect collision if the drive motor current exceeds a predetermined threshold. Collision detection based on drive motor current of one or more traction wheels is particularly suitable for detecting collision when reversing the equipment. The equipment may furthermore detect collision using magnetic sensors or other types of proximity sensors that detect horizontal displacement of the equipment body, such as the hood covering the grinding tools on a floor grinder.

[0028] The control unit may furthermore be arranged to execute a safety stop procedure comprising inactivation of the equipment in response to detecting collision with an object in vicinity of the equipment and to terminate the safety stop procedure in response to a keyed reset of the equipment. The keyed reset procedure ensures that an operator does not inadvertently terminate the safety stop. The keyed reset procedure also ensures that the safety stop procedure cannot be terminated by an unauthorized operator. The inactivation of the equipment may comprise braking of traction wheels, and / or inactivation of the active part of the equipment, such as the screeds of a power trowel, the grinding tools of a floor grinder, or the polishing pads of a floor cleaning machine.

[0029] According to some aspects, the equipment comprises one or more tool carriers comprised in a volume at least partly enclosed by a hood, where the hood comprises a peripheral wall arranged to sealingly engage the surface. One or more air pressure sensors are arranged in fluid communication with the volume, and the control unit is arranged to measure an air pressure in the volume. The control unit is also arranged to trigger an action in case the air pressure deviates from an expected air pressure range. The air pressure sensors can be used to ensure that a dust extraction function of the equipment is operating in a satisfactory manner. If the air pressure under the hood rises then a warning signal can be generated, or autonomous operation inactivated.

[0030] According to some other aspects, the equipment comprises a kick-bar arranged to be folded out from the body of the equipment and used as leverage when tilting the equipment. A proximity sensor is arranged in connection to the kick-bar to detect when the kick-bar is folded out from the body of the equipment. The control unit is arranged to trigger an action by the equipment in response to detecting that the kick-bar is folded out from the body of the equipment. This way a stuck suction hose or electrical feed cable can be detected by the control unit, which then is in a position to trigger a suitable action, such as termination of autonomous operation by the equipment. According to another example the equipment comprises a pivotable weight arranged to be pivoted about a pivot axis from a default position to a pivoted position, where the mass center of the equipment changes as the pivotable weight is pivoted from its default position. In this case the kick-bar can be configured with a stop or abutment member arranged to prevent the pivotable weight from pivoting past the kick-bar unless the kick-bar is folded out from the body of the equipment. This way the control unit 150 can detect when the adjustable weight is moved, which is an advantage. Autonomous operation may, e.g., be prevented when the adjustable weight is not in a predetermined state.

[0031] Methods and systems are also disclosed herein associated with at least some of the above-mentioned technical effects and advantages.

[0032] Generally, all terms used in the claims are to be interpreted according to their ordinary meaning in the technical field, unless explicitly defined otherwise herein. All references to "a / an / the element, apparatus, component, means, step, etc." are to be interpreted openly as referring to at least one instance of the element, apparatus, component, means, step, etc., unless explicitly stated otherwise. The steps of any method disclosed herein do not have to be performed in the exact order disclosed, unless explicitly stated. Further features of, and advantages with, the present invention will become apparent when studying the appended claims and the following description. The skilled person realizes that different features of the present invention may be combined to create embodiments other than those described in the following, without departing from the scope of the present invention.

[0033] BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present disclosure will now be described in more detail with reference to the appended drawings, where

[0035] Figures 1 A-B illustrate example construction equipment;

[0036] Figures 2A-B show an example environment sensor;

[0037] Figure 3 illustrates parts of a floor grinder seen from below;

[0038] Figures 4A-B show a hose management system on a floor grinder;

[0039] Figures 5A-B illustrate details of an example floor grinder;

[0040] Figure 6 shows an example remote control device;

[0041] Figures 7A-C are flow charts illustrating methods;

[0042] Figure 8 shows a control unit comprising processing circuitry; Figure 9 illustrates a relationship when wheel force and wheel slip;

[0043] Figures 10A-B illustrate example construction equipment; and

[0044] Figures 11 A-C show details of a handle portion with an environment sensor.

[0045] DETAILED DESCRIPTION

[0046] The invention will now be described more fully hereinafter with reference to the accompanying drawings, in which certain aspects of the invention are shown. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments and aspects set forth herein; rather, these embodiments are provided by way of example so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Like numbers refer to like elements throughout the description.

[0047] It is to be understood that the present invention is not limited to the embodiments described herein and illustrated in the drawings; rather, the skilled person will recognize that many changes and modifications may be made within the scope of the appended claims.

[0048] Figures 1 A-B and Figures 10A-B illustrate an example floor grinder for processing a surface 101 , such as a concrete surface, a floor, or a dirt surface. The floor grinder is an example of surface processing construction equipment 100 that can be used to even out, grind, polish and / or clean a concrete surface, a stone surface, or some other hard material surface such as a linoleum floor or the like. The different aspects and technical teachings of the present disclosure will be described using the floor grinders in Figures 1 A-B and in Figures 10A-B as examples. It is, however, appreciated that the teachings are generally applicable to other types of surface processing equipment such as power trowels and floor cleaning equipment.

[0049] Surface processing construction equipment normally comprises an active part arranged to engage the surface 101 in order to process the surface in some way. The active part of the construction equipment may comprise, e.g., grinding tools 190 as shown in Figure 10A, screeds, or polishing pads. The tools carried by the surface processing equipment may comprise diamondbased abrasives, carbide-based abrasives, or other types of abrasives. Polishing pads may be adapted to absorb a polishing compound. The equipment 100 is normally arranged to be supported on the surface 101 by the active part and sometimes also by one or more traction wheels 135.

[0050] The floor grinder in the illustrated examples comprises a first electric motor 110 arranged to rotate a number of tool drivers 350 about respective axes of rotation, as shown in Figure 3. Each tool driver 350 may support abrasive tools for grinding and / or a polishing pad for polishing the surface 101. The tool holders on the example machine 100 are comprised on a rotatable body section 360. This body section is often referred to as a planet. A second optional electric motor 115 is arranged to rotate the body section 360 about a central axis. The type of multi-rotation drive system shown in Figures 1 A-B and in Figures 10A-B is generally referred to as a planetary drive system. The rotatable body section 360 is covered by a hood 370 which seals a volume partly delimited by the hood 370 against the surface 101 . Dust and slurry can be extracted from this volume via the hose connection 310 shown in Figure 3 and in Figures 10A-B in a known manner.

[0051] Electrically powered floor grinders like that illustrated in Figures 1 A-B and in Figures 10A-B are generally known. Floor grinders driven by combustion engines, such as propane-fueled combustion engines, are also known. The tools and techniques disclosed herein are applicable with both electrically powered and combustion engine powered machines.

[0052] The construction equipment 100 comprises an elongated handle portion 120 that is pivotably attached to a body 130 of the construction equipment 100. The handle portion 120 may comprise a user interface arranged at its distal end 121 , i.e., the side opposite to the pivot axis 125 of the elongated handle portion 120. The user interface together with the handle portion allows an operator to operate and to guide the equipment 100. The user interface may comprise an input device for activating the tool drivers on the machine, and for receiving other input commands from an operator of the machine. The user interface may also comprise a display unit for communicating information to the operator., such as status signals and the like. The user interface may according to an example be formed as a detachable remote control device, as will be discussed in more detail below in connection to Figure 6.

[0053] Figure 10 illustrates an example distal end 121 of a handle portion 120 comprising an environment sensor module 140 and reflective objects 230, which will be discussed in more detail below.

[0054] The handle portion may comprise levelling means 1030, such as levelling screws, which can be used to adjust a pose of the handle portion 121 relative to the chassis of the construction equipment 100. Example levelling means 1030 are illustrated in Figures 10A-B and in Figure 11 A. In this case the levelling means comprise an arcuate slot 1031 and an axis 1032 about which the distal end of the handle portion 120 may pivot to align the sensor device 200 with, e.g., the horizontal plane. The levelling means 1030 can be used to make sure that the distal end of the handle portion is level, i.e., aligned with a horizontal plane.

[0055] The distal end of the elongated handle portion may also comprise a light emitting device 1000, i.e., a device such as an RGB diode arranged to emit light, e.g., as a warning signal or as a notification signal. A continuous of flashing light may also be emitted when the construction equipment 100 is operating in the autonomous mode, to make people nearby aware that autonomous operation is underway. The light emitting device is preferably arranged underneath the distal end of the elongated handle portion in the extended position, such that the light emitting device is located on top of the handle portion when the handle portion is in the folded position.

[0056] An antenna arrangement 1010 for wireless communication to and from one or more external wireless transceivers may also be arranged on the distal end 121 of the handle portion 120. This antenna arrangement 1010 is well positioned for communication when the handle portion 120 is in the extended position, as illustrated in, e.g., Figure 10A. The antenna arrangement may be a multi-band antenna arrangement which support, e.g., Bluetooth communications, Wi-Fi communications, as well as cellular communications using, e.g., 4G, 5G and 6G standards from the third generation partnership program (3GPP).

[0057] The handle portion 120 is pivotable about the handle pivot axis 125 from an extended position E shown in Figure 1 A where the distal end 121 of the handle portion 120 extends out from the construction equipment 100 to allow manual guidance of the construction equipment 100 by an operator, to a folded position F shown in Figure 1 B where the handle portion 120 extends from the handle pivot axis 125 in over the construction equipment 100.

[0058] The distal end 121 of the handle portion 120 which the operator can use to guide the equipment 100 is distanced from the rotatable body section 360 and the hood 370 in use, such that an operator can walk behind or next to the equipment 100 while guiding the equipment. According to a preferred embodiment, a plane (D), shown in Figure 1 A, that extends normal to the surface 101 separates the distal end 121 of the handle portion 120 from the body section 360 when the handle portion is in the extended position E.

[0059] The handle portion 120 has a first side and a second side opposite to the first side. The first and the second sides of the handle portion are separated by a plane that intersects the handle portion. When the handle portion 120 is in the extended position E then the first side is a lower side that faces the surface 101 while the second side is an upper side that faces away from the surface 101 . When the handle portion 120 is in the folded position (F), then the second side instead faces the surface 101 while the first side faces away from the surface 101 , as shown in Figure 1 B. Thus, in some sense the handle portion is upside-down when in the folded position F compared to the extended position.

[0060] The handle portion 120 is configured to support an environment sensor module 140 at the distal end 122 of the handle portion 120. This environment sensor module 140 will be discussed in more detail below, and an example will be described in connection to Figures 2A-B. The environment sensor module 140 moves together with the handle portion 120 from the extended position E to the folded position F where the environment sensor module 140 is located above the construction equipment with a view downwards towards an area S of the surface 101 . The environment sensor module 140 also has a relatively unobstructed view of the environment surrounding the construction equipment 100 when the handle portion is in the folded position F, as illustrated by the plane P in Figure 1 B.

[0061] The pivotable elongated handle portion 120 has at least two functions. An operator can use it to manually guide the construction equipment 100 and it also provides a well-positioned support for the environment sensor module 140. The handle portion 120 can also be used as a safety measure in that autonomous or semi-autonomous operation by the machine can be prevented when the handle portion is in its extended position where an operator may attempt to manually guide the machine. According to some aspects remote control of the equipment 100 is only permitted when the handle portion 120 is in the folded position.

[0062] A control unit 150 of the construction equipment 100 is arranged to monitor a surrounding environment of the construction equipment 100 by the environment sensor module 140, when the handle portion 120 is in the folded position F.

[0063] The control unit 150 may be a single control unit or comprise multiple spatially separated control units that control one or more functions of the construction equipment. An example realization 800 of the control unit 150 will be discussed in more detail below in connection to Figure 8.

[0064] The control unit 150 receives data from the environment sensor module 140 related to both the environment surrounding the equipment, such as presence and locations of wall and other obstacles on the surface 101 , and also more detailed information about the surface 101 in the immediate vicinity of the active part of the construction equipment 100. In other words, the environment sensor module 140 provides a first sensing function and a second sensing function. The first sensing function monitors an area S of the surface 101 in immediate vicinity of the construction equipment 100. The second sensing function monitors the surrounding environment of the construction equipment 100 vertically distanced from the surface 101.

[0065] According to an option, the environment sensor module 140 may be automatically inactivated when the handle portion is in the extended position, or its data can be discarded by the control unit 150. In other words, the environment sensor module 140 is only used when the handle portion 120 is in the extended position.

[0066] According to some aspects, the control unit 150 is arranged to configure the construction equipment 100 in a manual mode of operation or in an autonomous mode of operation. Different subsets of functions may be active in the two different modes of operation. The manual mode of operation is a mode intended for manual control of the equipment 100, i.e., a mode where an operator manually guides the machine in use. The autonomous mode of operation is a mode where the machine is at least partly controlled in an automated manner by the control unit 150. Semi-autonomous operations where an operator is assisted by the control unit 150 in guiding the machine may be performed in the autonomous mode of operation. According to some aspects the two modes are mutually exclusive in that the machine is either in the manual mode of operation or in the autonomous mode of operation. The machine 100 cannot be in both modes at the same time. Each mode of operation is associated with a respective set of functions. Some functions available in the manual mode of operation may not be available in the autonomous mode of operation, and vice versa.

[0067] The construction equipment 100 may be manually guided by the by an operator using the handle portion, and also remote controlled using a remote control device such as the remote control device 600 illustrated in Figure 6. Pure remote control of the equipment may be considered as manual operation of the equipment 100. Semi-autonomous functions may be activated by an operator using the remote control device, such as instructing the equipment to move straight ahead for a given distance, or to execute a given grinding pattern, such as a zig-zag pattern or a spiral pattern.

[0068] The construction equipment 100 preferably comprises at least one onboard safety system designed to prevent the construction equipment 100 from causing harm to persons in vicinity of the equipment and from damaging objects located in the same environment as the construction equipment 100, and also from being damaged by said objects. The at least one onboard safety system may comprise any of an object detection system, a surface monitoring system, an environment monitoring system, a collision avoidance system, or a collision warning system. The onboard safety system may be configured to use one or more sensors arranged on the equipment 100 to detect obstacles around the equipment, and to perform one or more actions in response to detecting an obstacle. The onboard safety system may, e.g., be configured to automatically brake the equipment and / or quickly bring the tool drivers 350 and the planet 360 to a full stop in case of collision or risk of collision with a person or an external object. The onboard safety system may also be configured to brake one or more traction wheels 135 of the construction equipment. Warning signals may also be emitted by the onboard safety system, such as warning lights emitted by the light emitting device 1000 shown in Figures 1 1 A-C. or warning sounds.

[0069] The control unit 150 can be arranged to inactivate the onboard safety system when the construction equipment 100 in the manual mode of operation and to activate the onboard safety system when the construction equipment 100 in the autonomous mode of operation. This way an operator guiding the construction equipment manually is given responsibility over the handling of the equipment. In this way the operator does not have to account for safety features such as automated braking which may in some cases hinder the operator from performing certain more advanced maneuvers and work tasks. An operator may for instance deliberately push the construction equipment against a wall in order to grind as close to the wall as possible. It may be inconvenient if the control unit 150 then detects the wall as an obstacle and inactivates the tool drivers 350. The control unit 150 can be configured to detect when the handle portion 120 is in the folded position F, and to allow autonomous, semi-autonomous or remote controlled operation of the construction equipment 100 only when the handle portion 120 is in the folded position F. Thus, an operator using the equipment 100 will not be taken unawares by sudden automatically triggered movements by the equipment when the handle portion is folded out to allow manual guidance. When autonomous operation is desired, then the handle portion is pivoted into the folded position, where the control unit allows autonomous control of the construction equipment and where manual control is not possible since the handle portion is not easily reached. In the example in Figures 1 A-B and in Figures 10A-B, the environment sensor module 140 is also automatically placed in a suitable position for monitoring the surrounding environment and the surface in vicinity of the equipment. There is no need for a special sensor mounting bracket or the like that extends over the equipment to provide a birds-eye view of the surface close to the active part of the machine, since the handle portion is used as sensor mount when in the folded position. It is appreciated that the environment sensor module 140 may be differently positioned depending on the setting of the handle portion, i.e., which angle the handle portion is configured in the extended position, as illustrated in Figure 1 A. This difference in angle can be compensated for by detecting the configured angle or based on an on-board electronic spirit level or inertial measurement unit, in a known manner. There may also be a default level angle that has to be selected in case the environment sensor 140 is to be used. The operator can then be informed by a message that the handle portion angle needs to be adjusted to the correct setting before the environment sensor module 140 can be used.

[0070] According to some aspects, the construction equipment 100 comprises a kickbar 190 arranged to be folded out from the body 130 of the construction equipment 100 and used as leverage when tilting the construction equipment 100. Figure 4A-B and Figures 5A-B, which will be discussed in more detail below, illustrate example construction equipment 100 that comprises this type of kick-bar 190 which is hingedly connected to the body 130 to pivot about the pivot axis K. A kick-bar 190 is, generally, a foot-lever which can be folded out from the machine and used as leverage in order to, e.g., tip the machine about its rear traction wheels 135. Figure 4A shows the kick-bar 190 in an upfolded state while Figure 4B shows the kick-bar in a down-folded or extended state. An operator wishing to pivot the equipment 100 about the wheel axis of the traction wheels 135, e.g., in order to inspect the tools underneath the equipment can place a foot on the kick-bar and push on the handle portion downwards in order to gain leverage enough to pivot the heavy equipment 100.

[0071] The kick-bar can be held in the folded position by means of a magnet or by an interference fit fastener, such that it can be manually pulled out from the folded position into the extended position.

[0072] Drive motors can be arranged in connection to the traction wheels 135 in order to move the equipment 100 in use. The control unit 150 can be configured to control the drive motors to maneuver the construction equipment 100 on the surface 101. The drive motors can be individually controllable such that the control unit 150 can cause the construction equipment to turn on the surface 101 by applying different amounts of torque at the left and right traction wheels. The different amounts of torque may be indirectly configured by setting different target speeds for the left and right traction wheels.

[0073] With reference to Figure 6, the construction 100 preferably comprises a remote control device 600 with at least one joystick 610, 620 that allows control of various functions on the construction equipment 100. The control unit 150 can be configured to detect when the joystick is at its respective center position, and to allow autonomous operation of the construction equipment 100 only when the joystick is at the center position. The remote control device may also comprise contact sensors that detect when an operator is holding a joystick 610, 620, and to allow autonomous operation of the construction equipment 100 only when an operator does not hold the joystick. This means that the construction equipment will not make any unexpected hazardous movements when an operator is providing control input or is intending to provide control input via the remote control device 600. The environment sensor module 140 may comprise one or more sensor devices and also sensor devices of varying type. For instance, with reference also to Figures 2A-B, the environment sensor module 140 may comprise a radar sensor and / or a lidar sensor arranged to emit a signal 210 in a plane P and to receive backscatter from the environment surrounding the construction equipment 100. The signal emitted in the plane P may be reflected by one or more reflective objects 230, as will be discussed in more detail below in connection to, e.g., Figure 2. The environment sensor module 140 is arranged to detect objects in the surrounding environment and transmit data indicative of the detected objects to the control unit 150. The radar sensor and / or lidar sensor comprised in the environment sensor module 140 may also be arranged to emit the signal 210 in a three-dimensional volume, i.e., such that the emitted signal 210 covers a spherical polygon of a sphere centered at the environment sensor module 140. The signal may for instance be emitted in an azimuth range covering up to 360 degrees, and an azimuth range of, say + / - 20 degrees or so.

[0074] A rotating signal 210 may be formed as a single beam or as a signal emitted over a viewing angle range. The signal 210 shown in Figures 2A-B is emitted from a sensor device 200 and rotates counter-clockwise when seen from the top as in Figure 2B. However, any manner of angle control can be used. The rotation of the emitted signal 210 is illustrated by the dash-dotted line in Figures 2A-B. The blocked emitted signal is shown as a dashed line extending at the blocked viewing angle span 220.

[0075] An angle of the plane P relative to the horizontal plane in use, i.e., when the surface processing construction equipment is supported on a horizontal surface, may be smaller than 20 degrees, and preferably smaller than 10 degrees, and more preferably smaller than 5 degrees. In most examples the plane P is an at least approximately horizontally aligned plane. The radar sensor and / or lidar sensor comprised in the environment sensor module 140 scans the environment surrounding the construction equipment 100 in order to determine what the layout of the environment in which the equipment is operating. This layout may be compared to an existing map of the environment in order to position the equipment in the environment. The sensor data may also be used to map the environment using so-called simultaneous localization and mapping (SLAM) techniques. Techniques for positioning a device using map data, as well as mapping and localization using radar scans and / or lidar scans of an environment are well-known in the art and will therefore not be discussed in more detail herein.

[0076] Sensors which emit electromagnetic radar signals or light in a plane P are relatively common in the art. An example are scanning lidars which use mechanical arrangements or solid state circuits to scan an environment by a rotating beam of light. However, surface processing construction equipment such as the floor grinder illustrated in the drawings, and also power trowels and surface cleaning machines also have need of scanning the surface in vicinity of the active part of the equipment in order to, e.g., detect low height obstacles located on the surface and also holes such as potholes in the surface. The downwards scanning sensor can also detect ledges, which allows the control unit 150 to keep the construction equipment from falling off an elevated surface 101 .

[0077] A downwards scanning sensor looking at an area S of the surface 101 can also detect markers on the surface that delimit a region to be processed. An operator may, e.g., place reflectors such as reflective tape in a given pattern on the surface 101 , which can be detected by the control unit 150 using the environment sensor module 140. The control unit 150 may then control movement of the equipment 100 based on the detected surface marker.

[0078] To allow scanning of the environment and at the same time provide information regarding the surface in vicinity of the active part of the equipment 100, the environment sensor module 140 may comprise one or more reflective objects 230 intersected by the plane P, as exemplified in Figures 2A-B. The reflective objects 230 are angled at a reflection angle r relative to a normal 231 of the plane P of between 0-45 degrees, which means that a radar signal or a beam of light from the sensor device in the environment sensor module 140 will strike the reflective object and be diverted towards the ground. Consequently, certain viewing angle spans 220 will be associated with sensing 240 of the surface area S. The sensor will then see the surrounding environment in the plane P in viewing angles and the surface in some other viewing angles. The reflective objects may be arranged at fixed angles relative to the sensor device in the environment sensor module 140, allowing the control unit 150 to determine which data points that correspond to the surrounding environment in the plane P and which data points that correspond to measurements of the surface 101 in vicinity of the active part of the construction equipment 100.

[0079] According to an option, the angle of the one or more reflective objects 230 relative to the plane P are manually or automatically adjustable. The angle relative to the plane may also be adjusted continuously, e.g., by a servo motor or the like, to obtain a scanning effect.

[0080] One or more of the reflective objects 230 may also be convex or concave mirrors, in order to shape the illuminated region on the surface 101. The reflective objects 230 may be designed so as to illuminate an elliptical region close to the active part of the construction equipment 100, or a circular segment. The environment sensor module 140 can then be used to detect obstacles, holes in the surface, and ledges of the surface more easily.

[0081] A surface marker suitable for detection by a lidar may, e.g., comprise light- reflective tape that produces a distinct pattern in the generated backscatter that can be detected and identified by the control unit 150 as a surface marker.

[0082] A surface marker suitable for a radar sensor is a radar reflector device which reflects inbound radar signals. A van Atta array can be used as reflector. Active radar transponders can also be used as surface markers in case the environment sensor module 140 comprises a radar sensor.

[0083] According to some aspects, the one or more reflective objects 230 arranged in connection to the sensor of the environment sensor module 140 are arranged to rotate about an axis of rotation R extending transversal to the plane P, as exemplified in Figure 4B. This means that the viewing angles 220 from the sensor device where the signal 210 is reflected down 240 towards the surface changes over time in dependence with the rotation about the axis of rotation R, which creates a type of scanning function. The control unit 150 thus obtains information about a larger part of the area S of the surface 101 close to the active part of the construction equipment 100. This rotation is particularly useful when the equipment is standing still. The rotation of the reflective objects 230 does not have to be very fast. A rotation speed of about 5-10 rpm is often sufficient in many applications. The one or more reflective objects 230 may be arranged in a transparent housing configured to allow the signal from the sensor device to pass and prevent moisture and dirt to enter into contact with the reflective objects. The control unit can use a rotary encoder 150 to monitor the current angle of rotation of the one or more reflective objects 230. Given the current rotation angle of the one or more reflective objects 230 around the sensor device, the control unit 150 can determine which viewing angles that correspond to measurements of the surface area S and which viewing angles that correspond to measurements in the plane P. In this way the control unit 150 can be configured to monitor an area S of the surface 101 in vicinity of the construction equipment 100 by the signal reflected by the one or more reflective objects 230, and to monitor an area of the surrounding environment distanced vertically from the surface 101 by the signal traversing past the one or more reflective objects 230.

[0084] According to some aspects, the environment sensor module 140 is vibrationally decoupled from the distal end 121 of the handle portion 120 by one or more resilient elements, such as rubber bushings or spring members such as spiral springs or leaf springs. The environment sensor module 140 may, e.g., be suspended from the distal end of the handle portion 120 by the one or more resilient elements. This vibrational decoupling reduces the amount of vibration at the sensor device in the environment sensor module 140, which improves the quality of the sensor data.

[0085] Figures 1 1 A-C illustrate some details of an example environment sensor module 140 arranged at the distal end 121 of a handle portion 120. Figure 1 1 A shows a side view, Figure 1 1 B shows a top view, and Figure 11 C shows a front view of the distal end 121 . According to the example in Figures 11 A-C, four reflective objects 230 are arranged around the sensor device 200. Thus, the surface 101 in immediate vicinity of the active part 190 of the equipment 100 is illuminated at four locations. The control unit 150 and / or the sensor device 200 may determine which viewing angles that are reflected by the reflective objects 230 based on the detected distance to the ground surface or based on the angle of emission.

[0086] A protective plate 1020 is arranged underneath the environment sensor module 140 when the handle portion 120 is in its extended position, as it is in Figures 1 1 A-C. This protective plate covers the sensor device and therefore protects it during use of the equipment 100.

[0087] The control unit 150, or at least parts thereof, can be located in the distal end 121 of the handle portion 120, as illustrated schematically in Figure 1 1 A.

[0088] A radar or a lidar system can be used to measure the speed over ground of a moving object such as a vehicle or surface processing machine. The radar or lidar sensor is then directed towards the surface 101 at an angle and the Doppler shift of the backscatter is used to determine the speed of the moving vehicle relative to the surface. WO2023169652A1 describes an example ground speed radar system that can be used also on the type of construction equipment described herein. The radar or lidar sensor is then directed towards the surface 101 at an angle and the Doppler shift of the backscatter is used to determine the speed of the moving vehicle relative to the surface. WO20231 69652A1 describes an example ground speed radar system that can be used also on the type of construction equipment described herein.

[0089] The example construction equipment 100 illustrated in Figures 1 A-B and in Figures 10A-B optionally comprises one or more ground speed radar transceivers 160 attached to the body 130 of the construction equipment 100 and facing the surface 101. The control unit 150 is in this case arranged to determine a speed over ground of the construction equipment 100 by the one or more ground speed radar transceivers 160. The speed over ground can be determined in one or more directions, such as a longitudinal speed over ground and a lateral speed over ground. A forward direction of the equipment 100 is indicated as FWD in Figure 1 A, and a rearward direction opposite to the forward direction is indicated as RWD in Figure 1 A. The determined speed over ground can be accumulated into an estimate of a distance travelled by the equipment 100 over the surface 101. The speed over ground and / or the travelled distance can be used for mapping and localization purposes.

[0090] The construction equipment 100 optionally also comprises one or more wheel encoders 340 arranged in connection to one or more traction wheels 135 of the construction equipment. The control unit 150 is in this case configured to monitor movement of the traction wheels 135 by the wheel encoders 340. The control unit 150 can be arranged to monitor a travelled distance of the construction equipment 100 by the one or more wheel encoders 340 possibly in combination with the one or more ground speed radar transceivers 160.

[0091] The example construction equipment 100 illustrated in the Figures comprises two wheels 135. However, the construction equipment may comprise any number of wheels, including a single wheel. A support roller can also be used, i.e., a support “wheel” with a traction wheel width larger than the diameter of the traction wheel. By monitoring a difference in wheel speeds between the two traction wheels 135, a current steering or turning radius of the construction equipment 100 can be determined by the control unit 150. This turning radius or steering by the equipment can also be used for mapping and localization purposes.

[0092] Longitudinal wheel slip of a wheel rolling on a surface may be defined as where R is an effective wheel radius in meters, MXis the angular velocity of the wheel, and vxis the longitudinal speed of the wheel (in the coordinate system of the wheel). Thus, is bounded between -1 and 1 and quantifies how much the wheel is slipping with respect to the road surface.

[0093] In order for a wheel to produce a wheel force by engaging a ground surface 101 , wheel slip must occur. Figure 9 is a graph 900 which schematically illustrates an example relationship between generated wheel force that pushes the construction equipment 100 over the surface 101 and the wheel slip that is present at the drive wheels of the equipment 100. For smaller slip values the relationship between slip and generated force is approximately linear, where the proportionality constant is often denoted as the slip stiffness of the wheel. The achievable wheel force decreases with decreasing product between the friction coefficient / . / of the surface 101 and the normal force Fnl, Fn2>Fn3on the wheel, as exemplified in the graph 900.

[0094] It is noted that the obtained wheel force increases with wheel slip up to a point where peak force is obtained. After this point any further increase in wheel speed of rotation a»xrelative to the surface will result in a decrease in obtained wheel force. The location of the peak force in terms of wheel slip normally does not change much with friction and normal force. Hence, a target wheel slip configured for some nominal surface friction value is reasonably close to optimum also for other friction conditions. The control unit 150 can be arranged to control wheel speed of the drive wheels as function of speed over ground vxof the construction equipment in order to set a given wheel slip, such as a wheel slip close in order to obtain a propulsion force which is close to the maximum obtainable propulsion force of the construction equipment 100. The control unit 150 can also be arranged to limit wheel speed to wheel speeds below some wheel slip limitlimin order to avoid excessive wheel slips that can result in significant loss in propulsion force.

[0095] According to some aspects, the control unit 150 is arranged to determine a wheel slip of one or more traction wheels 135 of the construction equipment 100, and to control an applied drive torque at the traction wheels 135 based on the determined wheel slip and on a desired wheel slip, in order to reduce a difference between the current wheel slip and the desired wheel slip.

[0096] In some cases, the rearward view from the distal end 121 of the handle portion 120 in the folded position F may be at least partly blocked. The area S in Figure 1 B for instance does not extend all the way around the perimeter of the equipment 100. To prevent hitting obstacles when reversing, the control unit 150 can be configured to prevent reversing of the construction equipment 100 for more than a predetermined reversal limit distance.

[0097] The control unit 150 is optionally arranged to obtained a signal from an inertial measurement unit (I M U) , such as an 1 D, 2D or 3D acceleration vector signal, and to detect an anomaly in the operation by the construction equipment by comparing the signal from the IMU to predetermined acceptance criteria. The construction equipment may, e.g., have begun to shake or vibrate in an unexpected manner, may have stopped abruptly, or have started to tilt in an unexpected manner. The IMU signal is indicative of this type of motion. The control unit 150 can be arranged to trigger an action by the construction equipment 100 in response to detecting anomaly in the operation by the construction equipment 100. The control unit can for instance inactivate the equipment, or at least stop the traction wheels 135 of the equipment in response to detecting an anomaly, and / or trigger generation of a warning signal.

[0098] According to some aspects, the control unit 150 is arranged to obtain a signal from the IMU indicative of an acceleration or retardation by the construction equipment, and to determine a motion by the construction equipment over the surface at least in part based on the acceleration or retardation. The acceleration signal can be used as complement to wheel speed data and / or data from other sensors on the construction equipment 100. The control unit 150 may be configured to estimate motion by the construction equipment 100 at least in part based on the signal from the IMU.

[0099] The construction equipment 100 optionally comprises one or more ultrasonic sensors 170 attached to the construction equipment 100 and facing out from the construction equipment 100. The control unit 150 can in this case be arranged to detect obstacles in vicinity of the construction equipment 100 by the one or more ultrasonic sensors 170. This way collision with obstacles can be avoided. The ultrasonic sensors 170 can also be used to provide redundancy if combined with the one or more sensor devices comprised in the environment sensor module 140. T1

[0100] The control unit 150 can be arranged to execute a safety stop procedure comprising inactivation of the construction equipment 100 in response to detecting collision with an object in vicinity of the construction equipment 100. The control unit 150 is preferably arranged to terminate the safety stop procedure in response to a keyed reset of the construction equipment 100. A keyed reset is an operation that can only be performed by an operator in possession of the correct key, code, or token. The keyed reset may, for instance, involve turning a physical key, inputting a key code, or executing some other form of authentication procedure to reset the equipment. This means that an operator needs to perform a keyed reset in case autonomous operation is desired after the equipment has initiated a safety stop procedure. The keyed reset procedure ensures that an operator does not inadvertently terminate the safety stop. The keyed reset procedure also ensures that the safety stop procedure cannot be terminated by an unauthorized operator. Figure 10A shows an example key 1040 that can be used in the keyed reset function of the equipment 100.

[0101] According to some aspects, the construction equipment 100 comprises a pressure sensitive strip 180 attached to at least one peripheral surface of the construction equipment 100. A pressure sensitive strip is an elongated list made in a resilient or at least compressible material with a hollow core volume. When the pressure sensitive strip is subject to an external force the pressure inside the strip increases, which can be detected by a pressure sensor. The control unit 150 can be arranged to detect obstacles in vicinity of the construction equipment 100 by the pressure sensitive strip 180, by monitoring the output signal from the pressure sensitive strip. Pressure sensitive strips (Swedish klamlisf) are generally known and will therefore not be discussed in more detail herein. The construction equipment may also detect collision with obstacles by monitoring a drive motor current of one or more traction wheels on the construction equipment, and to detect collision if the drive motor current exceeds a predetermined threshold.

[0102] With reference to Figure 3, the construction equipment 100 optionally comprises one or more tool carriers 350 comprised in a volume at least partly enclosed by a hood 370. The hood 370 comprises a peripheral wall arranged to sealingly engage the surface 101 , e.g., by a skirt or other sealing member. One or more air pressure sensors 320, 330 can be arranged in fluid communication with the volume under the hood 370. The control unit 150 can be arranged to measure an air pressure in the volume, and to trigger an action in case the air pressure deviates from an expected air pressure range. A rise in air pressure from some nominal level may, for instance, be indicative of a malfunction in a connected dust extractor. Autonomous operation may be inactivated in response to detecting a rise in air pressure under the hood. 370.

[0103] According to some aspects, the construction equipment 100 comprises a kickbar 190 arranged to be folded out from the body 130 of the construction equipment 100 and used as leverage when tilting the construction equipment 100. Figure 4A-B and Figures 5A-B illustrate example construction equipment 100 that comprises this type of kick-bar 190 which is hingedly connected to the body 130 to pivot about the pivot axis K. A kick-bar is a member which can be folded out from the machine and used as leverage in order to, e.g., tip the machine about its rear traction wheels 135. Figure 4A shows the kick-bar 190 in a folded state while Figure 4B shows the kick-bar in an extended state. An operator wishing to pivot the equipment 100 about the traction wheels 135, e.g., in order to inspect the tools underneath the equipment may place a foot on the kick-bar in order to gain leverage enough to pivot the heavy equipment 100.

[0104] With reference to Figures 4A-B, a proximity sensor 410, 420 is optionally arranged in connection to the kick-bar 190 to detect when the kick-bar is folded out from the body 130 of the construction equipment 100, as illustrated in Figure 4B. The control unit 150 can be arranged to trigger an action by the construction equipment 100 in response to detecting that the kick-bar is folded out from the body 130 of the construction equipment 100. This function can, for instance, be used to inactivate the equipment 100 if the dust extraction hose 401 or the power cable 420 gets stuck during operation, or if the dust extractor is too far from the construction equipment 100. A dust hose or cable connection 400 to an external device or electrical mains can be attached to the kick-bar 190 as shown in Figure 4B, at least some distance from the pivot axis K to provide leverage relative to the pivot axis K. The connection 400 will then, if stuck, assert a pull force on the kick-bar 190, which will cause the kick-bar to be folded out from the body 130. When this happens the proximity sensor 410, 420 will detect that the kick-bar is no longer in the folded position, and thus the control unit 150 becomes aware of the stuck connection 400. The control unit 150, monitoring the signal from the proximity sensor 410, 420, can then be configured to trigger an automated action such as a safety stop procedure or issuance of a warning signal in response to detecting that the kick-bar 190 has moved away from the folded position.

[0105] The construction equipment 100 may also comprise a pivotable weight 510, as shown in Figures 5A-B. The pivotable weight 510 is arranged to be pivoted 530 about a pivot axis 540 from a default position P1 to a pivoted position P2. in order to adjust a weight applied to the active part of the construction equipment 100. The mass center of the construction equipment 100 changes as the pivotable weight 510 is pivoted from its default position P1. This way the weight 510 can be used to adjust pressure on the tool drivers 350. The kick-bar 190 comprises a stop 520, formed, e.g., as a protruding pin or trunnion, arranged to prevent the pivotable weight 510 from pivoting past the kick-bar 190 unless the kick-bar is also folded out 550 from the body 130 of the construction equipment 100. Thus, as the weight 510 is moved into the pivoted position the kick-bar 190 must leave its folded position, which in turn means that the control unit 150 will detect the event by the proximity sensor 410, 420.

[0106] Figures 7A-C are flow charts that illustrate some example methods that summarize the different functions and operations of the construction equipment 100 described herein.

[0107] Figure 7A is a flow chart that illustrates a computer-implemented method, performed by a control unit 150 arranged to control construction equipment 100, where the control unit 150 is configured to operate the construction equipment 100 in a manual mode of operation and in an autonomous mode of operation, where the construction equipment 100 comprises at least one safety system. The method comprises activating Sa1 the safety system when the construction equipment 100 is operated in the autonomous mode of operation, and deactivating Sa2 the safety system when the construction equipment 100 is operated in the manual mode of operation. Thus, as discussed above, an operator may deliberately push the construction equipment against a wall or move the equipment close to a hole in the surface, in order to grind as close as possible to the obstacle.

[0108] Figure 7B is a flow chart that illustrates a computer-implemented method, performed by a control unit 150 arranged to control construction equipment 100, where the control unit 150 is configured to operate the construction equipment 100 in a manual mode of operation and in an autonomous mode of operation, where the construction equipment 100 comprises an elongated handle portion 120 pivotably attached to a body 130 of the construction equipment 100, where the handle portion 120 is pivotable from an extended position E where a distal end 121 of the handle portion 120 extends out from the construction equipment 100 to allow manual guidance of the construction equipment 100 by an operator, to a folded position F where the handle portion 120 extends in over the construction equipment 100. The method comprises detecting Sb1 when the handle portion 120 is in the folded position F, and allowing Sb2 autonomous operation of the construction equipment 100 only when the handle portion 120 is in the folded position F. Thus, an operator using the equipment 100 will not be taken unawares by sudden automatically triggered movements by the equipment when the handle portion is folded out to allow manual guidance, as discussed above.

[0109] Figure 7C is a flow chart that illustrates a computer-implemented method, performed by a control unit 150 arranged to control construction equipment 100, the construction equipment 100 comprising an environment sensor module 140 arranged to scan a surrounding environment of the construction equipment 100. The method comprises emitting Sc1 a signal 210 in a plane P, receiving Sc2 backscatter from a plurality of viewing angles in the plane P, associating Sc3 one or more of the viewing angles with a surface area S in vicinity of the construction equipment 100 and one or more other viewing angles with the surrounding environment of the construction equipment 100. This dual sensor function was discussed above in connection to, e.g., Figures 2A-B.

[0110] Figure 8 schematically illustrates, in terms of a number of functional units, the general components of a control unit 150, 800 or a remote control device 600. Processing circuitry 810 is provided using any combination of one or more of a suitable central processing unit CPU, multiprocessor, microcontroller, digital signal processor DSP, etc., capable of executing software instructions stored in a computer program product, e.g., in the form of a storage medium 830. The processing circuitry 810 may further be provided as at least one application specific integrated circuit ASIC, or field programmable gate array FPGA.

[0111] Particularly, the processing circuitry 810 is configured to cause the control unit 150, or the remote control device 600, to perform a set of operations, or steps, such as the methods discussed herein. For example, the storage medium 830 may store the set of operations, and the processing circuitry 810 may be configured to retrieve the set of operations from the storage medium 830 to cause the device to perform the set of operations. The set of operations may be provided as a set of executable instructions. Thus, the processing circuitry 810 is thereby arranged to execute methods as herein disclosed.

[0112] The storage medium 830 may also comprise persistent storage, which, for example, can be any single one or combination of magnetic memory, optical memory, solid state memory or even remotely mounted memory.

[0113] The device 150, 800 may further comprise an interface 820 for communications with at least one external device, such as a dust extractor or the like. As such the interface 820 may comprise one or more transmitters and receivers, comprising analogue and digital components and a suitable number of ports for wireline or wireless communication.

[0114] The processing circuitry 810 controls the general operation of the control unit 150, 800, e.g., by sending data and control signals to the interface 820 and the storage medium 830, by receiving data and reports from the interface 820, and by retrieving data and instructions from the storage medium 830.

[0115] There is also disclosed herein a computer readable medium carrying a computer program comprising program code means for performing the methods discussed herein, when said program product is run on a computer. The computer readable medium and the code means may together form a computer program product.

[0116] It is appreciated that many of the technical features and functions discussed herein are not inextricably linked to each other but can be implemented separately. A number of such examples will now be given. It is furthermore appreciated that, even though the features can be implemented as stand-alone features, one or more other features can of course be included in the design also, to provide synergetic advantageous effects.

[0117] According to an example, there is disclosed equipment 100 for processing a surface 101 such as a concrete surface or a dirt surface. The equipment 100 comprises a handle portion 120 for manual guiding of the equipment 100 and a control unit 150 for autonomous or semi-autonomous operation of the equipment 100. The control unit 150 is arranged to configure the equipment 100 in a manual mode of operation or in an autonomous mode of operation, where the equipment 100 comprises at least one onboard safety system, and where the control unit 150 is arranged to inactivate the onboard safety system when the equipment 100 is in the manual mode of operation and to activate the onboard safety system when the equipment 100 is in the autonomous mode of operation.

[0118] According to another example, there is disclosed equipment 100 for processing a surface 101 such as a concrete surface or a dirt surface. The equipment 100 comprises an elongated handle portion 120 pivotably attached to a body 130 of the equipment 100, where the handle portion 120 is pivotable about a handle pivot axis 125 from an extended position E where a distal end 121 of the handle portion 120 extends out from the equipment 100 to allow manual guidance of the equipment 100 by an operator, to a folded position F where the handle portion 120 extends from the handle pivot axis 125 in over the equipment 100. The handle portion 120 supports an environment sensor module 140 at the distal end 122 of the handle portion 120, where the control unit 150 is configured to detect when the handle portion 120 is in the folded position F, and to allow autonomous or semi-autonomous operation of the equipment 100 only when the handle portion 120 is in the folded position F.

[0119] According to yet another example, there is disclosed equipment 100 for processing a surface 101 such as a concrete surface or a dirt surface. The equipment 100 comprises a handle portion 120 for manual guiding of the equipment 100 a control unit 150 for autonomous or semi-autonomous operation of the equipment 100, and an environment sensor module 140 arranged to monitor an environment of the equipment 100. The environment sensor module 140 comprises a radar sensor and / or a lidar sensor arranged to emit a signal 210 in a plane P and to receive backscatter from the environment surrounding the equipment 100. The environment sensor module 140 comprises one or more reflective objects 230 intersected by the plane P, where the reflective objects 230 are angled at a reflection angle r relative to a normal 231 of the plane P of between 0-45 degrees.

[0120] According to a further example, there is disclosed equipment 100 for processing a surface 101 such as a concrete surface or a dirt surface. The equipment 100 comprises a handle portion 120 for manual guiding of the equipment 100, a control unit 150 for autonomous or semi-autonomous operation of the equipment 100, and an environment sensor module 140 arranged to monitor an environment of the equipment 100. The environment sensor module 140 comprises a radar sensor and / or a lidar sensor arranged to emit a signal 210 in a plane P and to receive backscatter from the environment surrounding the equipment 100, where the control unit 150 is configured to detect a surface marker on the surface 101 by the environment sensor module 140, and to control movement of the equipment 100 in dependence of the position of the detected surface marker. According to another example, there is disclosed equipment 100 for processing a surface 101 such as a concrete surface or a dirt surface. The equipment 100 comprises a handle portion 120 for manual guiding of the equipment 100 and a control unit 150 for autonomous or semi-autonomous operation of the equipment 100, where the control unit 150 is arranged to configure the equipment 100 in a manual mode of operation or in an autonomous mode of operation, where the control unit 150 is arranged to execute a safety stop procedure comprising inactivation of the equipment 100 in response to detecting collision with an object in vicinity of the equipment 100, where the control unit 150 is arranged to terminate the safety stop procedure in response to a keyed reset of the equipment 100.

[0121] According to yet another example, there is disclosed equipment 100 for processing a surface 101 such as a concrete surface or a dirt surface. The equipment 100 comprises a control unit 150 and a kick-bar 190, where the kick-bar is arranged to be folded out from the body 130 of the equipment 100 and used as leverage when tilting the equipment 100, where a proximity sensor 410, 420 is arranged in connection to the kick-bar to detect when the kick-bar is folded out from the body 130 of the equipment 100, where the control unit 150 is arranged to trigger an action by the equipment 100 in response to detecting that the kick-bar is folded out from the body 130 of the equipment 100.

Claims

CLAIMS1. Equipment (100) for processing a surface (101 ), the equipment (100) comprising a control unit (150) for autonomous or semi-autonomous operation of the equipment (100), and an environment sensor module (140) arranged to monitor an environment of the equipment (100), where the environment sensor module (140) comprises a radar sensor and / or a lidar sensor arranged to emit a signal (210) in a plane (P) and to receive backscatter from the environment surrounding the equipment (100), where the environment sensor module (140) comprises one or more reflective objects (230) intersected by the plane (P), where the reflective objects (230) are angled at a reflection angle (r) relative to a normal (231 ) of the plane (P) of between 0-45 degrees.

2. The equipment (100) according to claim 1 , where an angle of the plane (P) relative to a horizontal plane in use is smaller than 20 degrees, and preferably smaller than 10 degrees, and more preferably smaller than 5 degrees.

3. The equipment (100) according to claim 1 or 2, where the environment sensor module (140) is arranged to detect objects in the surrounding environment and transmit data indicative of the detected objects to the control unit (150).

4. The equipment (100) according to any previous claim, where the angle of the reflective objects (230) relative to the plane (P) are manually or automatically adjustable.

5. The equipment (100) according to any previous claim, where one or more of the reflective objects (230) comprises a concave or a convex reflective surface.

6. The equipment (100) according to any previous claim, where the one or more reflective objects (230) are arranged to rotate about an axis of rotation (R) extending transversal to the plane (P).

7. The equipment (100) according to claim 6, comprising a rotary encoder, where the control unit (150) is arranged to monitor an angle of rotation of the one or more reflective objects (230) by the rotary encoder.

8. The equipment (100) according to any previous claim, where the control unit (150) is configured to monitor an area of the surface (101 ) in vicinity of the equipment (100) by the signal reflected by the one or more reflective objects (230), and to monitor an area of the surrounding environment by the signal traversing past the one or more reflective objects (230).

9. The equipment (100) according to any previous claim, where the control unit (150) is configured to detect a surface marker on the surface (101 ), and to control movement of the equipment (100) in dependence of the position of the detected surface marker.

10. The equipment (100) according to any previous claim, comprising an elongated handle portion (120) pivotably attached to a body (130) of the equipment (100), where the handle portion (120) is pivotable about a handle pivot axis (125) from an extended position (E) where a distal end (121 ) of the handle portion (120) extends out from the equipment (100) to allow manual guidance of the equipment (100) by an operator, to a folded position (F) where the handle portion (120) extends from the handle pivot axis (125) in over the equipment (100), the handle portion (120) supporting the environment sensor module (140) at the distal end (122) of the handle portion (120), where the control unit (150) is arranged to monitor the surrounding environment of the equipment (100) by the environment sensor module (140), at least when the handle portion (120) is in the folded position (F).

11. The equipment (100) according to claim 10, where the environment sensor module (140) is vibrationally decoupled from the distal end (121 ) of the handle portion (120) by one or more resilient elements.

12. The equipment (100) according to any previous claim, where the control unit (150) is arranged to configure the equipment (100) in a manual mode of operation or in an autonomous mode of operation, where the equipment (100) comprises at least one onboard safety system, where the control unit (150) is arranged to inactivate the onboard safety system when the equipment (100) is in the manual mode of operation and to activate the onboard safety system when the equipment (100) is in the autonomous mode of operation.

13. A computer-implemented method for processing a surface (101 ) by surface processing equipment (100), the equipment (100) comprising a control unit (150) for autonomous or semi-autonomous operation of the equipment (100), and an environment sensor module (140) arranged to monitor an environment of the equipment (100), where the environment sensor module (140) comprises a radar sensor and / or a lidar sensor arranged to emit a signal (210) in a plane (P) and to receive backscatter from the environment surrounding the equipment (100), where the environment sensor module (140) comprises one or more reflective objects (230) intersected by the plane (P), where the reflective objects (230) are angled at a reflection angle (r) relative to a normal (231 ) of the plane (P) of between 0-45 degrees, the method comprising emitting (Sc1) a signal (210) in the plane (P) by the environment sensor module (140), receiving (Sc2) backscatter from a plurality of viewing angles in the plane (P), associating (Sc3) one or more of the viewing angles with a surface area (S) in vicinity of the equipment (100) and one or more other viewing angles with the surrounding environment of the equipment (100).

14. Equipment (100) for processing a surface (101 ),the equipment (100) comprising an elongated handle portion (120) pivotably attached to a body (130) of the equipment (100), where the handle portion (120) is pivotable about a handle pivot axis (125) from an extended position (E) where a distal end (121 ) of the handle portion (120) extends out from the equipment (100) to allow manual guidance of the equipment (100) by an operator, to a folded position (F) where the handle portion (120) extends from the handle pivot axis (125) in over the equipment (100), the handle portion (120) supporting an environment sensor module (140) at the distal end (122) of the handle portion (120), where a control unit (150) of the equipment (100) is arranged to monitor a surrounding environment of the equipment (100) by the environment sensor module (140), at least when the handle portion (120) is in the folded position (F).

15. The equipment (100) according to claim 14, where the control unit (150) is arranged to configure the equipment (100) in a manual mode of operation or in an autonomous mode of operation, where the equipment (100) comprises at least one onboard safety system, where the control unit (150) is arranged to inactivate the onboard safety system when the equipment (100) is in the manual mode of operation and to activate the onboard safety system when the equipment (100) is in the autonomous mode of operation.

16. The equipment (100) according to claim 15, where the at least one onboard safety system comprises any of an object detection system, a surface monitoring system, an environment monitoring system, a collision avoidance system, or a collision warning system.

17. The equipment (100) according to any of claims 14-16, comprising an active part arranged to engage the surface (101 ) during processing of the surface (101 ), where the equipment (100) is arranged to be supported on the surface (101 ) at least partly by the active part.

18. The equipment (100) according to any of claims 14-17 where the control unit (150) is configured to detect when the handle portion (120) is in the folded position (F), and to allow autonomous or semi- autonomous operation of the equipment (100) only when the handle portion (120) is in the folded position (F).

19. The equipment (100) according to any of claims 14-18, comprising a remote control device (600) with a joystick (610, 620), where the control unit (150) is configured to detect when the joystick is at its respective center position, and to allow autonomous operation of the equipment (100) only when the joystick is at the center position.

20. The equipment (100) according to any of claims 14-19, where the environment sensor module (140) comprises a radar sensor and / or a lidar sensor arranged to emit a signal (210) in a plane (P) and to receive backscatter from the environment surrounding the equipment (100).21 . The equipment (100) according to claim 20, where an angle of the plane (P) relative to a horizontal plane in use is smaller than 20 degrees, and preferably smaller than 10 degrees, and more preferably smaller than 5 degrees.

22. The equipment (100) according to claim 20 or 21 , where the environment sensor module (140) is arranged to detect objects in the surrounding environment and transmit data indicative of the detected objects to the control unit (150).

23. The equipment (100) according to any of claims 20-22, where the environment sensor module (140) comprises one or more reflective objects (230) intersected by the plane (P), where the reflective objects (230) are angled at a reflection angle (r) relative to a normal (231 ) of the plane (P) of between 0-45 degrees.

24. The equipment (100) according to claim 23, where the angle of the reflective objects (230) relative to the plane (P) is manually or automatically adjustable.

25. The equipment (100) according to claim 23 or 24, where one or more of the reflective objects (230) comprises a concave or a convex reflective surface.

26. The equipment (100) according to any of claims 23-25, where the one or more reflective objects (230) are arranged to rotate about an axis of rotation (R) extending transversal to the plane (P).

27. The equipment (100) according to claim 26, comprising a rotary encoder, where the control unit (150) is arranged to monitor an angle of rotation of the one or more reflective objects (230) by the rotary encoder.

28. The equipment (100) according to any of claims 23-27, where the control unit (150) is configured to monitor an area of the surface (101 ) in vicinity of the equipment (100) by the signal reflected by the one or more reflective objects (230), and to monitor an area of the surrounding environment by the signal traversing past the one or more reflective objects (230).

29. The equipment (100) according to any of claims 14-28, where the control unit (150) is configured to detect a surface marker on the surface (101 ), and to control movement of the equipment (100) in dependence of the position of the detected surface marker.

30. The equipment (100) according to any of claims 14-29, where the environment sensor module (140) is vibrationally decoupled from the distal end (121 ) of the handle portion (120) by one or more resilient elements.

31. The equipment (100) according to any of claims 14-30, comprising one or more ground speed radar transceivers (160) attached to the body (130) of the equipment (100) and facing the surface (101 ), where the control unit (150) is arranged to determine a speed over ground of the equipment (100) by the one or more ground speed radar transceivers (160).

32. The equipment (100) according to any of claims 14-31 , comprising one or more wheel encoders (340) arranged in connection to one or more traction wheels (135) of the equipment, where the control unit (150) is configured to monitor movement of the traction wheels (135) by the wheel encoders (340).

33. The equipment (100) according to claim 31 or 32, where the control unit (150) is arranged to monitor a travelled distance of the equipment (100) by the one or more wheel encoders (340) and / or by the one or more ground speed radar transceivers (160).

34. The equipment (100) according to claim 33, where the control unit (150) is configured to prevent reversing of the equipment (100) for more than a predetermined reversal limit distance.

35. The equipment (100) according to any of claims 14-34, comprising one or more ultrasonic sensors (170) attached to the equipment (100) and facing out from the equipment (100), where the control unit (150) is arranged to detect obstacles in vicinity of the equipment (100) by the one or more ultrasonic sensors (170).

36. The equipment (100) according to any of claims 14-35, comprising a pressure sensitive strip (180) attached to at least one peripheral surface of the equipment (100), where the control unit (150) is arranged to detect obstacles in vicinity of the equipment (100) by the pressure sensitive strip (180).

37. The equipment (100) according to any of claims 14-36, where the control unit (150) is arranged to monitor a drive motor current of one or more traction wheels (135) on the equipment (100), and to detect collision if the drive motor current exceeds a predetermined threshold.

38. The equipment (100) according to any of claims 14-37, where the control unit (150) is arranged to obtain a signal from an inertial measurement unit, IMU, and to detect an anomaly in the operation by the equipment by comparing the signal from the IMU to predetermined acceptance criteria, where the control unit (150) is arranged to trigger an action by the equipment (100) in response to detecting anomaly in the operation by the equipment (100).

39. The equipment (100) according to any of claims 14-38, where the control unit (150) is arranged to obtain a signal from an IMU indicative of an acceleration or retardation by the equipment, and to determine a motion by the equipment over the surface at least in part based on the acceleration or retardation.

40. The equipment (100) according to any ot claims 14-39, where the control unit (150) is arranged to execute a safety stop procedure comprising inactivation of the equipment (100) in response to detecting collision with an object in vicinity of the equipment (100), where the control unit (150) is arranged to terminate the safety stop procedure in response to a keyed reset of the equipment (100).

41. The equipment (100) according to any of claims 14-40, comprising one or more tool carriers (350) comprised in a volume at least partly enclosed by a hood (370), where the hood (370) comprises a peripheral wall arranged to sealingly engage the surface (101 ), where one or more air pressure sensors (320, 330) are arranged in fluid communication with the volume, where the control unit (150) is arranged to measure an air pressure in the volume, and to trigger an action in case the air pressure deviates from an expected air pressure range.

42. The equipment (100) according to any of claims 14-41 , comprising a kickbar (190) arranged to be folded out from the body (130) of the equipment (100) and used as leverage when tilting the equipment (100), where a proximity sensor (410, 420) is arranged in connection to the kick-bar to detect when the kick-bar is folded out from the body (130) of the equipment (100), where the control unit (150) is arranged to trigger an action by the equipment (100) in response to detecting that the kick-bar is folded out from the body (130) of the equipment (100).

43. The equipment (100) according to claim 42, where the kick-bar (190) is detachably fixed to the body (130) of the equipment (100), the equipment (100) comprising a pivotable weight (510) arranged to be pivoted (530) about a pivot axis (540) from a default position (P1 ) to a pivoted position (P2), where the mass center of the equipment (100) changes as the pivotable weight (510) is pivoted from its default position (P1 ),the kick-bar (190) comprising a stop (520) arranged to prevent the pivotable weight (510) from pivoting past the kick-bar (190) unless the kick-bar is folded out (550) from the body (130) of the equipment (100).

44. The equipment (100) according to any of claims 14-43, where the control unit (150) is arranged to determine a wheel slip of one or more traction wheels (135) of the equipment (100), and to control an applied drive torque at the traction wheels (135) based on the determined wheel slip and on a desired wheel slip.

45. A computer-implemented method, performed by a control unit (150) arranged to control equipment (100), where the control unit (150) is configured to operate the equipment (100) in a manual mode of operation and in an autonomous mode of operation, where the equipment (100) comprises at least one onboard safety system, the method comprising activating (Sa1 ) the onboard safety system when the equipment (100) is operated in the autonomous mode of operation, and deactivating (Sa2) the onboard safety system when the equipment (100) is operated in the manual mode of operation.

46. A computer-implemented method, performed by a control unit (150) arranged to control equipment (100), where the control unit (150) is configured to operate the equipment (100) in a manual mode of operation and in an autonomous mode of operation, where the equipment (100) comprises an elongated handle portion (120) pivotably attached to a body (130) of the equipment (100), where the handle portion (120) is pivotable from an extended position (E) where a distal end (121 ) of the handle portion (120) extends out from the equipment (100) to allow manual guidance of the equipment (100) by an operator, to a folded position (F) where the handle portion (120) extends in over the equipment (100), the method comprising detecting (Sb1 ) when the handle portion (120) is in the folded position (F), and allowing (Sb2) autonomous operation of the equipment (100) only when the handle portion (120) is in the folded position (F).

47. Equipment (100) for processing a surface (101 ), the equipment (100) comprising a handle portion (120) for manual guiding of the equipment (100) and a control unit (150) for autonomous or semi-autonomous operation of the equipment (100), where the control unit (150) is arranged to configure the equipment (100) in a manual mode of operation or in an autonomous mode of operation, where the equipment (100) comprises at least one onboard safety system, where the control unit (150) is arranged to inactivate the onboard safety system when the equipment (100) is in the manual mode of operation and to activate the onboard safety system when the equipment (100) is in the autonomous mode of operation.

48. Equipment (100) for processing a surface (101 ), the equipment (100) comprising an elongated handle portion (120) pivotably attached to a body (130) of the equipment (100), where the handle portion (120) is pivotable about a handle pivot axis (125) from an extended position (E) where a distal end (121 ) of the handle portion (120) extends out from the equipment (100) to allow manual guidance of the equipment (100) by an operator, to a folded position (F) where the handle portion (120) extends from the handle pivot axis (125) in over the equipment (100), the handle portion (120) supporting an environment sensor module (140) at the distal end (122) of the handle portion (120), where the control unit (150) is configured to detect when the handle portion (120) is in the folded position (F), and to allow autonomous or semi- autonomous operation of the equipment (100) only when the handle portion (120) is in the folded position (F).

49. Equipment (100) for processing a surface (101 ), the equipment (100) comprising a handle portion (120) for manual guiding of the equipment (100) a control unit (150) for autonomous or semi-autonomous operation of theequipment (100), and an environment sensor module (140) arranged to monitor an environment of the equipment (100), where the environment sensor module (140) comprises a radar sensor and / or a lidar sensor arranged to emit a signal (210) in a plane (P) and to receive backscatter from the environment surrounding the equipment (100), where the control unit (150) is configured to detect a surface marker on the surface (101 ) by the environment sensor module (140), and to control movement of the equipment (100) in dependence of the position of the detected surface marker.

50. Equipment (100) for processing a surface (101 ), the equipment (100) comprising a handle portion (120) for manual guiding of the equipment (100) and a control unit (150) for autonomous or semi-autonomous operation of the equipment (100), where the control unit (150) is arranged to configure the equipment (100) in a manual mode of operation or in an autonomous mode of operation, where the control unit (150) is arranged to execute a safety stop procedure comprising inactivation of the equipment (100) in response to detecting collision with an object in vicinity of the equipment (100), where the control unit (150) is arranged to terminate the safety stop procedure in response to a keyed reset of the equipment (100).

51. Equipment (100) for processing a surface (101 ), the equipment (100) comprising a control unit (150) and a kick-bar (190), where a dust hose and / or cable connection (400) to an external device or electrical mains is attached to the kick-bar (190), where the kick-bar is arranged to be folded out from the body (130) of the equipment (100) and used as leverage when tilting the equipment (100), where a proximity sensor (410, 420) is arranged in connection to the kick-bar to detect when the kick-bar is folded out from the body (130) of the equipment (100), where the control unit (150) is arranged to trigger an action by the equipment (100) in response to detecting that the kickbar is folded out from the body (130) of the equipment (100).

52. The equipment (100) according to claim 51 , where the triggered action comprises a safety stop procedure and / or issuance of a warning signal in response to detecting that the kick-bar (190) has moved away from the folded position.

53. The equipment (100) according to claim 51 or 52, where the triggered action comprises termination of autonomous operation by the equipment.

54. The equipment (100) according to any of claims 51 -53, where the kickbar (190) is hingedly connected to a body (130) of the equipment (100) to pivot about a pivot axis (K).

55. The equipment (100) according to any of claims 51 -54, where the control unit (150) is configured to detect a stuck suction hose and / or a stuck electrical feed cable when the kick-bar (190) has moved away from the folded position.

56. The equipment (100) according to any of claims 51 -55, where the kickbar (190) is arranged to be held in the folded position by means of a magnet or by an interference fit fastener, such that it can be manually pulled out from the folded position into the extended position.

57. A computer-implemented method for processing a surface (101 ) by a control unit (150) on surface processing equipment (100) comprising a kickbar (150), the method comprising arranging the kick-bar (190) to be folded out from the body (130) of the equipment (100) and used as leverage when tilting the equipment (100), arranging a proximity sensor (410, 420) in connection to the kick-bar to detect when the kick-bar is folded out from the body (130) of the equipment (100), and triggering an action by the equipment (100) in response to detecting that the kick-bar is folded out from the body (130) of the equipment (100).

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