Autonomous surface processing construction equipment

Abstract

Surface processing equipment (100) comprising a control unit (150, 155) and an environment sensor module (140) arranged to monitor a surrounding environment of the equipment (100), where the control unit (150, 155) is arranged to position the equipment (100) 5 on the surface by the environment sensor module (140), where the control unit (150, 155) is arranged to detect that the equipment (100) is not in a nominal operating position and to cease positioning by the environment sensor module (140) in response to detecting that the equipment (100) is not in the nominal operating position.

Description

[0001] TITLE

[0002] AUTONOMOUS SURFACE PROCESSING CONSTRUCTION EQUIPMENT

[0003] TECHNICAL FIELD

[0004] The present disclosure relates to construction equipment such as floor grinders, power trowels, trench compactors, and heavy duty floor cleaners suitable for processing concrete and stone surfaces. Autonomous and semi- autonomous construction equipment are disclosed, as well as methods for configuring autonomous construction equipment.

[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 equipment for autonomous surface processing. This objective is at least in part obtained by surface processing equipment and methods according to the appended claims.

[0011] Some aspects of the disclosure relate to surface processing equipment that comprises a control unit and an environment sensor module arranged to monitor a surrounding environment of the equipment, where the control unit is arranged to position the equipment on the surface by the environment sensor module. The control unit is arranged to detect that the equipment is not in a nominal operating position and to cease positioning by the environment sensor module in response to detecting that the equipment is not in the nominal operating position. Tracking movement of the equipment can be done in a number of different ways, such as by using traction wheel rotation data from one or more wheel encoders, or by using data from an environment scanning sensor such as a radar or a lidar sensor. However, some sensor types may be negatively influenced if the equipment changes pose from a nominal operating position, such as if the equipment is tilted. By disregarding data from one or more sensor types when the equipment is not in the nominal operating position, corrupt sensor data can be prevented from affecting the operation of the equipment.

[0012] Certain aspects of the disclosure also relate to a method for processing a work area on a surface by surface processing equipment comprising a control unit. The method comprises guiding the equipment along a path around at least a part of a perimeter of the work area and tracking the path of the equipment by the control unit. The method also comprises determining, by the control unit a geometry of the work area as a region at least partly delimited by the tracked path and configuring an autonomous function of the equipment by the geometry of the work area. The method comprises processing the work area by activating the configured autonomous function of the equipment. This way an intuitive and robust method tor configuring the autonomous function of the equipment is obtained. An operator can indicate in a clear and unambiguous manner which work area to be processed by the equipment. According to a preferred embodiment, the method also comprises inactivating one or more safety functions of the equipment prior to guiding the equipment along the path. This way the operator may be able to guide the equipment closer to walls and obstacles around the perimeter of the work area than would otherwise have been possible with the safety function or functions activated.

[0013] 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, dirt surfaces, gravel 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.

[0014] The above-mentioned safety function of the surface processing equipment is 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 safety function 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 safety function 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 safety function 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 safety function may also be configured to brake one or more traction wheels 135 of the construction equipment. Warning signals may also be emitted by the safety function, such as warning lights or warning sounds.

[0015] It is appreciated that the guiding and tracking may be performed using a first type of equipment, while the autonomous processing of the work area can be performed by a second type of equipment. The data obtained by guiding the first type of equipment is then transferred to the second type of equipment in order to configure the autonomous function of the second type of equipment. The guiding and tracking parts of the method may, e.g., be performed by a smaller edge grinder machine while the main surface grinding is performed by a larger floor grinder. The guiding and tracking parts of the method may also be performed by a dedicated area definition device while the main surface grinding is performed by a larger floor grinder with autonomous capability. In other words, there is disclosed a method for processing a work area on a surface by first and second surface processing equipment, where at least one of the first and the second surface processing equipment comprises a control unit. The method comprises guiding the first equipment along a path around at least a part of a perimeter of the work area, tracking the path of the first equipment by the control unit, determining, by the control unit and / or by a further control unit, a geometry of the work area as a region at least partly delimited by the tracked path, configuring an autonomous function of the second equipment by the geometry of the work area, and processing the work area by activating the configured autonomous function of the second equipment. The first surface processing equipment may, e.g., comprise agile equipment particularly adapted for processing the surface in vicinity of walls and other obstacles, such as an edge grinder. The second surface processing equipment may be a less agile larger machine adapted to process larger work areas.

[0016] The method also preferably comprises tracking movement of the equipment at least in part by an environment sensor module of the equipment when the equipment is in a nominal operating position, and disregarding data from the environment sensor module when the equipment is not in the nominal operating position. Tracking movement of the equipment can be done in a number of different ways, such as by using traction wheel rotation data from one or more wheel encoders, or by using data from an environment scanning sensor such as a radar or a lidar sensor. However, some sensor types may be negatively influenced if the equipment changes pose from a nominal operating position, such as if the equipment is tilted. By disregarding data from one or more sensor types when the equipment is not in the nominal operating position, corrupt sensor data can be prevented from affecting the operation of the equipment.

[0017] According to some aspects, the method comprises configuring the autonomous function by determining, by the control unit, a processing path to be followed by the equipment. The processing path may be determined automatically by the control unit or at least partly by an operator of the equipment. Methods for automatically determining the processing path will be described and exemplified below. The method may also comprise triggering generation of a warning signal in response to detecting that the equipment is located outside of the work area or is about to leave the intended work area.

[0018] The method optionally comprises determining the region as a polygon bounded at least partly by the tracked path. Polygon shaped work areas are easily handled, e.g., in terms of constructing a suitable processing path for the equipment to follow during the autonomous operation.

[0019] According to some aspects, the method comprises obtaining input associated with a desired processing path overlap of the autonomous function and configuring the autonomous function of the equipment by the desired processing path overlap. The operator may tailor the autonomous surface processing operation by configuring the overlap. More overlap may give a better result but will also mean that the processing task will take more time.

[0020] The method optionally comprises obtaining input associated with a desired starting location on the surface for processing the work area and configuring the autonomous function of the equipment by the desired starting location. Certain starting locations may be better than others. This way an operator is allowed to input a desired starting location of the equipment, which is an advantage. The method may also comprise determining a proposed starting location on the surface for processing the work area and configuring the autonomous function of the equipment by the proposed starting location. The proposed starting location may, e.g., be determined based on the location of auxiliary equipment such as a dust extractor connected to the equipment via a hose, or the location of electrical mains to which the equipment will be tethered during the autonomous processing of the work area.

[0021] According to some aspects, the method comprises determining, by the control unit, at least one work task parameter associated with the configured autonomous function of the equipment. The work task parameter may comprise any of; a size of the work area, a time to complete processing of the work area (in absolute time and / or as a percentage remaining of the total work time), a tool consumption for processing of the work area, an amount of dust generated by processing of the work area, and / or an energy consumption for processing of the work area. This way the operator receives information about the work task to be performed and can adapt the work task in case the work task parameters are not as expected or even unacceptable. A work task that will take too much time or consume too many tools can be aborted by the operator before it is started, which is an advantage.

[0022] The method optionally comprises adjusting a steering magnitude parameter of the autonomous function based on a current angle between an extension direction of the processing path to be followed by the equipment and a forward direction of the equipment. This way the path following ability of the equipment performing the autonomous surface processing operation is improved. The equipment is able to perform difficult maneuvers requiring agility in the more challenging parts of the processing path and at the same time will move in a stable manner at less challenging parts of the processing path.

[0023] The method may also comprise detecting, by the control unit, that the equipment is not in a nominal operating position and inactivating an environment monitoring function of the equipment when the equipment is not in the nominal operating position. This way corrupt data from some sensor types can be avoided. A lidar scanner for instance that is configured to scan in a horizontal plane will give erroneous data if tilted too much. By discarding data from the lidar sensor when the equipment is tilted, corrupt data can be prevented from affecting the operation of the equipment.

[0024] 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.

[0025] BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present disclosure will now be described in more detail with reference to the appended drawings, where

[0027] Figures 1 A-B illustrate example construction equipment;

[0028] Figures 2A-B illustrate a procedure for defining a work area;

[0029] Figure 3 shows an example user interface displaying a processing path;

[0030] Figures 4-5 schematically illustrate adaptations of steering magnitude;

[0031] Figure 6 is a flow chart

[0032] Figures 4A-B show a hose management system on a floor grinder;

[0033] Figures 5A-B illustrate details of an example floor grinder;

[0034] Figure 6 is a flow chart illustrating selection of navigation data source;

[0035] Figure 7 shows an example remote control device; Figures 8A-B illustrates example processing paths;

[0036] Figure 9 is a flow chart illustrating a method;

[0037] Figure 10 shows a control unit comprising processing circuitry; and

[0038] Figure 11 illustrates an example floor grinder.

[0039] DETAILED DESCRIPTION

[0040] 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.

[0041] 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.

[0042] Figures 1 A-B and Figure 11 illustrate example floor grinders for processing a concrete surface 101 in an autonomous or at least semi-autonomous manner. The floor grinder is an example of more general 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 grinder in Figures 1 A-B and in Figure 1 1 as example. It is, however, appreciated that the teachings are generally applicable to other types of surface processing equipment such as power trowels, floor polishing equipment, and floor cleaning equipment. Many of the technical features described herein are not inextricably linked and can thus be implemented as separate stand-alone features.

[0043] Surface processing construction equipment generally comprises an active part 190 arranged to engage the surface 101 in order to process the surface in some way. The floor grinders in Figures 1 A-B and in Figure 11 comprises a set of rotating tool carriers arranged under a hood 180. The active part of surface processing construction equipment 100 may comprise, e.g., grinding tools, screeds, or polishing pads. The floor grinders in Figures 1 A-B and in Figure 11 comprises a first electric motor 110 and a second electric motor 1 15 arranged to drive the active part, one or more power sources may, generally, be used to power the active part of the construction equipment.

[0044] Electrically powered floor grinders like that illustrated in Figures 1 A-B and in Figure 11 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, as well as to hybrid electric construction equipment.

[0045] 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 manually guide the equipment 100.

[0046] The user interface may, e.g., comprise an input device for controlling the active part on the machine and for steering the equipment 100. The user interface may also allow configuration of various operations of the equipment, such as an autonomous surface processing function. The user interface normally comprises a display unit for communicating information to the operator, such as status signals and the like. An example user interface 300 will be discussed below in connection to Figure 3. The user interface may according to an example be formed as a detachable remote control device. Figure 7 shows an example remote control device 700 with two joysticks 710, 720 that allows control of various functions on the construction equipment 100. The remote control device 700 also comprises a display unit 730, which may be formed as a touch screen.

[0047] The example handle portion 120 shown in Figures 1 A-B and in Figure 11 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.

[0048] The construction equipment 100 comprises an environment sensor module 140. This sensor module is arranged to monitor the environment in which the construction equipment 100 is operating. The sensor module may, e.g., comprise a lidar sensor and / or a radar sensor arranged to scan the environment in a horizontal plane P or in a three-dimensional volume comprising the plane P. The environment sensor module 140 may also comprise one or more vision-based sensors, such as a camera or an infra-red (IR) detector. According to some aspects the environment sensor module 140 also comprises a downwards facing sensor configured to monitor a surface area S in immediate vicinity of the construction equipment. The surface area S may extend a meter or so out from the construction equipment 100. The environment sensor module 140 provides data regarding the shape of the surrounding environment to the control unit 150, 155 of the construction equipment 100. This allows the control unit 150, 155 to position the construction equipment on the surface 101 in relation to objects such as walls, and also map the environment as the equipment moves over the surface 101 . Mapping and localization functions of the construction equipment 100 will be discussed in more detail below. A control unit 150, 155, 155 ot the construction equipment 100 is arranged to monitor a surrounding environment of the construction equipment 100 by the environment sensor module 140, and to control one or more functions of the construction equipment 100, such as an autonomous function.

[0049] The control unit 150, 155, 155 may be a single control unit or comprise multiple spatially separated control units that control one or more functions of the construction equipment. At least part of the control unit 155 may be located remotely, such as a server accessible via wireless link from the construction equipment. An example realization 1000 of a control unit 150, 155 will be discussed in more detail below in connection to Figure 10.

[0050] The environment sensor module 140 may be mounted in various ways on the construction equipment 100, e.g., on a fixed support bracket that provides a clear view of the plane P around at least part of the construction equipment 100, and preferably also a birds-eye view of an area S of the surface 101 close to the equipment, as shown in Figure 1 B.

[0051] According to an example, the handle portion 120 is configured to support the environment sensor module 140 at its distal end 122. The environment sensor module 140 then 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 birds-eye view downwards towards the area S of the surface 101 and also a view around the construction equipment in the plane P, as shown in Figure 1 B.

[0052] The pivotable elongated handle portion 120 may thus have dual functions. It can be used by an operator to manually guide the construction equipment 100 on the surface 101 , and it also provides a well-positioned support for the environment sensor module 140 when the handle portion is in the folded position F. The handle portion 120 can furthermore 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 E where an operator may attempt to manually guide the machine. The control unit 150, 155 may be configured to only allow autonomous operation by the construction equipment 100 when the handle portion is in the folded position F.

[0053] The control unit 150, 155 receives data from the environment sensor module 140 related to both the environment surrounding the equipment, such as presence and locations of walls 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, such as within two meters of the active part of the construction equipment 100. In other words, the environment sensor module 140 may provide 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 .

[0054] An angle of the plane P relative to the horizontal plane in use 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 the layout of the environment in which the equipment is operating. This layout may be compared to an existing map of the environment, accessible by the control unit 150, 155, in order to position the equipment 100 on the surface 101 in the environment.

[0055] The sensor data obtained from the environment sensor module 140 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.

[0056] 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. Surface processing construction equipment such as the floor grinder illustrated in the drawings, and also power trowels and surface cleaning machines may 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, 155 to keep the construction equipment from falling off an elevated surface 101.

[0057] 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 and / or identify key features on the surface 101 . 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, 155 using the environment sensor module 140. The control unit 150, 155 may then control movement of the equipment 100 based on the detected surface marker. 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, 155 as a surface marker. 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.

[0058] The construction equipment 100 normally comprises one or more traction wheels 160. Drive motors can be arranged in connection to the traction wheels 160 in order to move the equipment 100 over the surface 101 to be processed. A traction wheel 160 may be driven or undriven. The control unit 150, 155, 155 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, 155 can cause the construction equipment to turn on the surface 101 by applying different amounts of torque at the left and right traction wheels. Other steering arrangements are also possible, such as one or more steered axles or the like.

[0059] The construction equipment 100 preferably also comprises one or more wheel encoders 170, i.e., rotary encoders, arranged in connection to the one or more traction wheels 160 of the construction equipment 100. The control unit 150, 155 may in this case be configured to monitor movement of the traction wheels 160 by the wheel encoders 170, and thus to monitor movement by the construction equipment 100 on the surface 101. The control unit 150, 155 can be arranged to monitor a travelled distance of the construction equipment 100 by the one or more wheel encoders 170 by integrating wheel movement and also track a path of the construction equipment as it moves over the surface 101. By monitoring a difference in wheel speeds between the two traction wheels 160, a current steering or turning radius of the construction equipment 100 can be determined by the control unit 150, 155. This turning radius or steering by the equipment can also be used for mapping and localization purposes. Both driven and undriven traction wheels may comprise wheel encoders.

[0060] The example construction equipment 100 illustrated in the Figures comprises two wheels 160. 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 member with a traction wheel width larger than the diameter of the traction wheel.

[0061] Most types of surface processing construction equipment is associated with a forward direction FWD. A rearward direction RWD is opposite to the forward direction FWD, For a floor grinder like that illustrated in Figures 1 A-B and in Figure 11 , the forward direction can be defined to be perpendicular to the traction wheel axle. In other words, the traction wheels 160 rotate about a traction wheel axle. A forward direction of the construction equipment 100 is perpendicular to this traction wheel axle and parallel with the surface 101 . The forward direction FWD of more general construction equipment can be defined as the direction the equipment normally moves in use. Construction equipment such as the example floor grinder in Figures 1 A-B can be configured to autonomously process a work area on the surface 101 . The work area may be an entire surface or just a part of the surface 101 . During autonomous processing, the equipment 100 moves autonomously over the work area, controlled by the control unit 150, 155, to, e.g., grind it down to a desired level, or to polish the work area to a desired finish, or to clean the work area, perhaps by applying some kind of cleaning compound. Some types of construction equipment 100 are controlled exclusively by an on-board control unit 150, while other types of construction equipment 100 are controlled at least in part by a remote control station 155, such as a remote server or the like connected to the construction equipment 100 via wireless or wired link. An on-board control unit 150 then transmits data to the remote control station 155 and receives data and commands back from the remote control station 155.

[0062] It may be a challenge to define the work area to be autonomously processed by the construction equipment, i.e., to configure the control unit 150, 155 with information that clearly defines the work area to be traversed by the construction equipment during autonomous processing of the surface 101 . An operator desiring to initiate an autonomous function of construction equipment must first indicate which surface to be processed, or which part of a surface to be processed.

[0063] Figures 2A-B illustrates an example procedure for defining a work area 200 to be autonomously processed by construction equipment 100.

[0064] The equipment 100 is first guided by an operator along a path 210 around the perimeter of the work area 200 to be processed during the autonomous operation, as shown in Figure 2A. The operator may guide the equipment manually by a handle portion such as the handle portion 120 discussed above, or by remote control 700. The guiding by the operator may be such as to avoid obstacles 230 on the surface 101 to be processed.

[0065] As mentioned above, the operator may also deploy surface markers on the surface to identify key objects and locations on the surface. The operator could, for instance, use surface markers to mark areas to be avoided by the construction equipment 100.

[0066] The control unit 150, 155 tracks the movement by the construction equipment 100 as it is guided along the path 210. Thus, the control unit 150, 155 obtains information about the geometry of the work area. The control unit may use one or more positioning techniques to establish the geometry of the path 210, such as the environment sensor module 140 discussed above, or some other type of positioning system known in the art.

[0067] According to an example, the control unit 150, 155 compares the scans of the environment obtained from the environment sensor module 140 to stored map data in order to find the position of the construction equipment on the surface.

[0068] The control unit 150, 155 may also use the wheel encoder data to track movement by the construction equipment 100 as it moves along the path 210. The wheel encoder data is indicative of travelled distance, and also of how the construction equipment is steered. The estimated position of the construction equipment 100 may be corrected in case the equipment comes into contact with an object at a known location, such as a wall, a column or pillar, fixed furniture, or the like.

[0069] The control unit 150, 155 may perform simultaneous localization and mapping (SLAM) as the construction equipment 100 is guided by the operator along the path 210. In this case a map comprising information about, e.g., obstacles, walls, and ledges is developed as the construction equipment 100 is guided along the path 210.

[0070] Positioning techniques using lidar and / or radar scans of an environment, with or without a-priori known map data, are known in the art and will therefore not be discussed in more detail herein. Positioning techniques using vision based sensors are also known in the art.

[0071] Once the construction equipment has been guided along the path 210, the control unit determines the geometry of the intended work area 200 as a region 220 that is at least partly delimited by the tracked path 210. Note that the path 210 does not have to be a closed path, i.e., a path that starts and stops at the same place. It is also possible that the operator guides the construction equipment along an open path (one which does not start and end at the same place). The open path can be used by the control unit 150, 155 to determine the geometry of the intended work area 200, for instance by closing the path by drawing a straight line segment from the position of the construction equipment to the starting point (marked by a star in Figure 2A).

[0072] The operator may also guide the construction equipment along an L-shaped path, and the control unit can then mirror the L-shape to define a rectangular shaped work area.

[0073] Figure 2B illustrates an example where the construction equipment has been guided along the perimeter of a rectangular-shaped work area. The control unit 150, 155 has tracked the movement of the construction equipment 100 as it was guided along the path 210 and is thus in position to determine the geometry of the intended work area 200 as the region 220 delimited by the tracked path 210. The equipment 100 may be manually guided using the handle portion 120 or guided by remote control along the path 210.

[0074] The methods and techniques discussed in WO2024136716 may be applicable together with the construction equipment 100 here also, as a complement or as an alternative.

[0075] Having obtained sufficient data about the intended work area 200, the control unit 150, 155 may configure an autonomous function of the construction equipment 100 using the determined work area geometry, and then process the work area 200 by activating the configured autonomous function of the construction equipment 100.

[0076] To summarize, with reference also to the flow chart in Figure 9, there is disclosed herein a method for processing a work area 200 on a surface 101 by construction equipment 100 comprising a control unit 150, 155. The method comprises guiding S1 the construction equipment 100 along a path 210 around at least a part of a perimeter of the work area 200. The guiding may, e.g., be performed by an operator walking behind or next to the equipment and using a handle or the like to manually guide the equipment, or by an operator using a remote control device such as the device 700 in Figure 7 to guide the equipment 100 along the path 210. In other words, the method may comprise guiding S11 the equipment 100 along the path 210 by remote control of the equipment 100 using a remote control device, such as the remote control device 700 illustrated in Figure 7.

[0077] It is appreciated that the guiding by the operator may be assisted by the control unit 150, 155. The control unit 150, 155 may for instance semi-autonomously control the equipment to move along a straight path or to follow a curvature with a configurable radius upon one or more input commands from the operator.

[0078] The method also comprises tracking S2 the path 210 by the control unit 150, 155 of the construction equipment 100. This means that the control unit 150, 155 stores position data that indicates how the equipment has moved during the guiding phase. The result of this tracking by the control unit 150, 155 may be a sequence of waypoints, i.e., coordinates on the surface 101 relative to some reference point on the surface or relative to a coordinate reference system such as the World Geodetic System of 1984 (WGS 84) or the like. The result of the tracking by the control unit 150, 155 may also be a series of line segments, or a vector of coordinates along the path 210.

[0079] The actual tracking is performed by the control unit 150, 155 based on input data from, e.g., the environment sensor module 140, and / or from the one or more wheel encoders 170 discussed above. The control unit 150, 155 may, e.g., compare the sensor data from the environment sensor module 140 with an a-priori map of the environment to localize the construction equipment on the surface 101 , and store the position data as part of the path 210. The control unit 150, 155 may also execute a SLAM algorithm based on the sensor data from the environment sensor module 140, as mentioned above. Data related to movement of one or more traction wheels of the construction equipment 100 can also be used to track movement of the construction equipment over the surface during the guiding phase of the surface processing operation. Thus, the control unit 150, 155 determines S3 a geometry of the work area 200 as a region 220 at least partly delimited by the tracked path 210. The region 220 may, for instance, be determined S31 as a polygon bounded at least in part by the tracked path 210. The geometry of the work area 200 is preferably determined during motion of the equipment 100 along the path. Having established a definition of the work area to be processed, the control unit 150, 155 configures S4 an autonomous function of the construction equipment 100 by the geometry of the work area 200, and then starts to process S6 the work area 200 by activating the configured autonomous function of the construction equipment 100.

[0080] The present disclosure also relates to construction equipment 100 comprising an environment sensor module 140, and a control unit 150, 155 arranged to control movement of the construction equipment 100 on a surface 101. The control unit 150, 155 is arranged to monitor movement by the construction equipment 100 on the surface 101 at least in part by the environment sensor module 140 and to track a path 210 traversed by the construction equipment 100 on the surface 101 during a guiding phase of a surface processing operation. The control unit 150, 155 is also arranged to determine a geometry of a work area 200 as a region 220 at least partly delimited by the tracked path 210, and to configure an autonomous function of the construction equipment 100 by the geometry of the work area 200. The construction equipment 100 may also be arranged to process the work area 200 by executing the configured autonomous function by the control unit 150, 155.

[0081] The control unit 150, 155 is optionally configured to determine a processing path 310 to be followed by the construction equipment 100 as part of configuring the autonomous function of the construction equipment 100, as discussed above.

[0082] The control unit 150, 155 may furthermore be configured to obtain input associated with a desired processing path overlap 330 of the autonomous function and to configure the autonomous function of the construction equipment 100 based on the desired processing path overlap. According to an option, the control unit 150, 155 is configured to obtain input associated with a desired starting location 340 on the surface 101 for processing the work area 200 and to configure the autonomous function of the construction equipment 100 based on the desired starting location 340. The control unit 150, 155 may also be configured to determine a proposed starting location 340 on the surface 101 for processing the work area 200 and to configure the autonomous function of the construction equipment 100 based on the proposed starting location 340.

[0083] In some cases, the guiding and tracking is performed using a first surface processing equipment, while the main processing is performed by a second surface processing equipment. The first surface processing equipment may, e.g., comprise a more agile edge grinder able to enter into smaller spaces between obstacles around the work area, while the second surface processing equipment is a larger less agile floor grinder able to faster process larger surfaces. Consequently, there is disclosed a method for processing a work area 200 on a surface 101 by first and second surface processing equipment 100, where at least one of the first and the second equipment comprises a control unit 150, 155. The method comprises guiding S1 the first equipment 100 along a path 210 around at least a part of a perimeter of the work area 200, while processing the surface 101 by the first equipment. The method also comprises tracking S2 the path 210 of the first equipment 100, by the control unit 150, and or by a further control unit 155. The method furthermore comprises determining S3, by the control unit 150 and / or by the further control unit 155, a geometry of the work area 200 as a region 220 at least partly delimited by the tracked path 210, configuring S4 an autonomous function of the second equipment 100 by the geometry of the work area 200, and processing S6 the work area 200 by activating the configured autonomous function of the second equipment 100. Note that the first surface processing equipment does not need autonomous processing capabilities. It is enough if the path taken by the first surface processing equipment can be tracked and stored in order to define the work area. The control unit 150, 155 normally configures S41 the autonomous function by determining a processing path 310 to be followed by the construction equipment 100. Figure 3 illustrates a user interface 300 which can be used to communicate data to an operator of the construction equipment 100. The user interface 300 comprises a display which may be configured as a touch screen that allows an operator to input commands to the construction equipment 100. The top part of the example interface 300 shows the path 210 that the construction equipment has moved along during the guiding phase. In this case the path 210 defines a rectangular area, and the control unit 150, 155 has constructed a processing path 310 using stacked parallel lines joined by line segments parallel to the boundary of the work area. The processing path 310 originates at a starting location 340. The starting location can be configured manually by an operator, or automatically based, e.g., on the current location of the construction equipment as the point on the processing path 310 that is closest to the current location of the construction equipment.

[0084] In other words, according to an option, the method comprises obtaining S43 input associated with a desired starting location 340 on the surface 101 for processing the work area 200 and configuring the autonomous function of the construction equipment 100 by the desired starting location 340.

[0085] According to another option, the method comprises determining S44 a proposed starting location 340 on the surface 101 for processing the work area 200 and configuring the autonomous function of the construction equipment 100 by the proposed starting location 340. With reference to Figures 2A-B, the method may for instance comprise obtaining S45 input associated with a location of auxiliary equipment 240 on the surface 101 and determining the proposed starting location 340 on the surface 101 based on the location of the auxiliary equipment 240, and optionally also obtaining S46 input associated with a location of electrical mains 250 on the surface 101 and determining the proposed starting location 340 on the surface 101 based on the location of electrical mains 250. Two other examples of such processing paths are illustrated in Figures 8A-B. The processing path 310 in Figure 8A is based on parallel lines 820 stacked from a starting point 810. The parallel lines 820 are joined by connecting line segments 830 to form a continuous processing path 310 to be followed by the construction equipment 100. The connecting line segments 830 may be drawn parallel to the closest edge of the work area. The example processing path 310 in Figure 8B is a spiral path that originates at a starting point 840 inside the work area and then spirals outwards using straight line segments. It is appreciated that there are several possible ways in which the control unit 150, 155 can construct the processing path 310 given the starting location of the construction equipment and the geometry of the work area. The construction of the processing path 310 may be performed automatically by the control unit 150, 155 or at least in part by the operator. The operator may, for instance, be asked to select a processing path layout from a number of possible layouts, such as stacked parallel lines as in Figure 8A or a spiral path as in Figure 8B.

[0086] The distance between adjacent lines in the processing path determines the path overlap as the construction equipment 100 processes the work area 200. The closer together the lines of the processing path are, the more overlap will result. According to an option, the method comprises obtaining S42 input associated with a desired processing path overlap of the autonomous function and configuring the autonomous function of the construction equipment 100 by the desired processing path overlap.

[0087] Figure 3 shows a user interface module where an operator can configure the desired processing path overlap parameter 330 manually. The control unit 150, 155 may also be preconfigured with one or more overlap parameters values. The overlap value to use for a given surface processing operation may be determined automatically by the control unit based on, e.g., type of construction equipment, type of surface processing operation, type of surface material, and so on.

[0088] The example user interface 300 also allows the operator to configure a grinding amount 340. According to this example the operator may input a grinding amount in terms of a depth in mm or select an option 350 to process the surface until it is horizontally level. Methods for determining a topology of a surface using, e.g., a lidar scanner are known in the art and will therefore not be discussed in more detail herein.

[0089] The construction equipment 100 normally comprises one or more safety functions, such as automated braking in case the construction equipment comes too close to an obstacle 230 on the surface 101 , or to close to a ledge or hole in the surface 101 . According to some aspects the control unit 150, 155 inactivates one or more of the safety functions of the construction equipment during the guiding phase, thus allowing the operator guiding the equipment to move close to obstacles, and in ways that would otherwise have been disallowed during autonomous operation. Consequently, the method optionally comprises an initial step of inactivating SO a safety function of the construction equipment 100 prior to the guiding.

[0090] Some environment sensor modules, such as the example environment sensor module 140 arranged at the distal end of the handle portion 120 in Figure 1 B, requires that the construction equipment 100 is in a nominal operating position to provide relevant sensor data. If the equipment is not in the nominal operating position the output data from the sensor devices on the construction equipment 100 may be corrupted. This would, for instance, be the case if a lidar sensor is mounted on the equipment to scan in the plane P, and the equipment 100 is tilted rearwards about the traction wheel axle. The angle between the plane P and the horizontal plane would then become large, which would corrupt the output data from the environment sensor module 140. To avoid such problems, the method optionally comprises tracking S21 movement of the construction equipment 100 at least in part by an environment sensor module 140 of the construction equipment 100 when the construction equipment 100 is in a nominal operating position, and disregarding data from the environment sensor module 140 when the construction equipment 100 is not in the nominal operating position. It is appreciated that the features related to determining that the construction equipment is not in a nominal operating position are not inextricably linked to any of the other features discussed herein but can be implemented as a standalone feature of the construction equipment 100. Thus, there is disclosed herein construction equipment 100 comprising an environment sensor module 140, and a control unit 150, 155 arranged to monitor a surrounding environment of the construction equipment 100 by the environment sensor module 140, where the control unit 150, 155 is arranged to detect that the construction equipment 100 is not in a nominal operating position and to cease monitoring the surrounding environment of the construction equipment 100 by the environment sensor module 140 in response to detecting that the construction equipment 100 is not in the nominal operating position.

[0091] According to some aspects, the method comprises detecting S7, by the control unit 150, 155, that the construction equipment 100 is not in a nominal operating position and inactivating an environment monitoring function of the construction equipment 100 when the construction equipment 100 is not in the nominal operating position.

[0092] Figure 6 illustrates a mode selection procedure that may be implemented by the control unit 150, 155 or by the environment sensor module 140. Operating position data such as a current tilt angle or pose in relation to gravity may be obtained from an inertial measurement unit (IMU), possibly in combination with wheel speed data from the wheel encoders 170 to account for horizontal acceleration. An IMU will indicate the direction of gravity, which can be used to indicate if the equipment is tilted. An electronic spirit level can also be used to determine the pose of the construction equipment, which pose can be compared to unacceptable poses where environment sensor data has a high chance of being corrupt. Note that the movement of the construction equipment can still be tracked using the wheel encoders even if the equipment is not in the nominal operating position. The pose of the construction equipment 100, such as its roll angle and attitude, may according to an example also be determined as part of the SLAM procedure performed by the control unit 150, 155.

[0093] The example user interface 300 illustrated in Figure 3 also comprises a number of work task parameters 320 that have been determined by the control unit 150, 155 based on the configured work area and other data related to the autonomous surface processing operation to be performed by the construction equipment 100. The method may, generally, comprise determining S5, by the control unit 150, 155, at least one work task parameter 320 associated with the configured autonomous function of the construction equipment 100. The work task parameter optionally comprises any of; a size of the work area 200, a time to complete processing of the work area 200, a tool consumption for processing of the work area 200, an amount of dust generated by processing of the work area 200, an energy consumption for processing of the work area 200. The size of the work area can be determined by the control unit using straight forward geometrical principles. The time to complete the work task is determined based on the length of the processing path and on the expected speed of the construction equipment, which in turn is governed by the type of machine and the type of work task that is to be performed. The tool consumption may, e.g., be determined in terms of tool units U that are needed to complete the work task. The tool consumption is also governed by the length of the processing path and the grinding depth if a floor grinding operation is to be performed. The energy consumption by the equipment for completing the work task may be interesting in case the construction equipment is powered at least in part from a battery or a gen-set. It can be determined, e.g., from the length of the processing path, the type of machine, and the type of work task to be performed. The amount of dust generated by a work task can be determined from the size of the work area and the expected grinding depth to be reached.

[0094] The dimensions of the work area 200 may also be determined and displayed to an operator. The construction equipment 100 is autonomously steered by the control unit 150, 155 during the surface processing operation, which means that the control unit uses the different actuators on the construction equipment 100, such as driven traction wheels 160, to make the construction equipment follow the processing path 310 as closely as possible. Sometimes the construction equipment 100 has an easy task following the path by moving in the forward direction FWD, and sometimes the construction equipment 100 has a much more challenging task of making the active part of the equipment follow the processing path closely. It may be necessary for a floor grinder to position itself at an angle relative to the processing path in order to make the active part closely follow the processing path 310. In this case the forward direction FWD of the construction equipment 100 is not in alignment with the processing path 310. In some case the forward direction of the construction equipment 100 may even be orthogonal to the processing path or face away from the intended direction of travel along the processing path 310.

[0095] It has been found that it is beneficial to adjust S61 a steering magnitude parameter of the autonomous function based on the current angle a between an extension direction of the processing path 310 to be followed by the construction equipment 100 and a forward direction FWD of the construction equipment 100, as illustrated by the examples 400 and 430 in Figures 4A-B. The control unit 150, 155 increases the steering magnitude, i.e., steers more aggressively if the angle a between the forward direction FWD of the construction equipment 100 and the extension direction of the processing path 310 is large compared to if the angle a is smaller as in Figure 4B. The extension direction of the processing path 310 may, e.g., be determined as a tangent to the processing path at the point closest to the construction equipment, or as the average extension direction of the processing path in an area close to the construction equipment.

[0096] In the examples of Figures 4A-B, the control unit uses a pure pursuit algorithm to follow the processing path 310. The steering magnitude is then adjustable by reconfiguration of the look ahead distance. The larger the look ahead distance, the smaller the steering magnitude of the path following operation is. T1

[0097] The look ahead distances are indicated by reference numerals 410 and 440 in Figures 4A-B. The resulting target coordinates against which the control unit strives to point the forward direction of the equipment are indicated by 420 and 450. The look ahead distance 410, 440 increases with a decreasing angle a, and vice versa.

[0098] The steering magnitude of the construction equipment 100 following the processing path 310 may optionally be adjusted based on the distance d1 , d2 from the active part of the equipment as shown in Figures 5A-B. The look ahead distances are indicated by reference numeral 510 and 520 in Figures 5A-B. The target coordinates against which the control unit strives are indicated by reference numerals 530 and 540. In this case the steering magnitude is increased in case the construction equipment 100 is far away from the processing path (Figure 5, right) compared to if the construction equipment 100 is closer to the processing path (Figure 5, left).

[0099] The look ahead distance can be determined as a weighted combination of the look ahead distance obtained by considering the angle a between the forward direction FWD of the construction equipment and the extension direction of the processing path 310 to be followed by the construction equipment 100.

[0100] Pure pursuit path following algorithms are well known in the art and will therefore not be discussed in more detail herein. It is appreciated that there are several alternatives to pure pursuit algorithms that can be applied in this context. At least some of these alternative methods can be configured by a look ahead distance determined in the manner described herein.

[0101] It is appreciated that the technical features relating to adjustment of steering magnitude are not inextricably linked to any of the other features discussed herein. Thus, there is disclosed herein construction equipment 100 comprising an environment sensor module 140, and a control unit 150, 155 arranged to control movement of the construction equipment 100 on a surface 101. The control unit 150, 155 is arranged to obtain data indicative of a processing path 310 to be traversed by the construction equipment 100 on the surface 101. The control unit 150, 155 is also arranged to determine, at least in part by the environment sensor module 140, a current angle a between a forward direction FWD of the construction equipment 100 and an extension direction of the processing path 310 to be traversed. The control unit 150, 155 is configured to adapt a steering magnitude of the construction equipment 100 according to an increasing function of the current angle a. In case the path following algorithm executed by the control unit 150, 155 resembles a pure pursuit algorithm, then the look ahead distance 410, 440 increases with a decreasing angle a, and vice versa, as exemplified in Figures 4A-B.

[0102] According to some aspects, the method comprises triggering S8 generation of a warning signal in response to detecting that the construction equipment 100 is located outside of the work area 200. The warning signal may be triggered as an audio signal, a buzzer, or as a warning light, such as a flashing light. The warning signal may be generated by the user interface 300 and / or by the equipment 100.

[0103] Figure 10 schematically illustrates, in terms of a number of functional units, the general components of a control unit 150, 1000 or a remote control device 600. Processing circuitry 1010 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 1030. The processing circuitry 1010 may further be provided as at least one application specific integrated circuit ASIC, or field programmable gate array FPGA.

[0104] Particularly, the processing circuitry 1010 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 1030 may store the set of operations, and the processing circuitry 1010 may be configured to retrieve the set of operations from the storage medium 1030 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 1010 is thereby arranged to execute methods as herein disclosed.

[0105] The storage medium 1030 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.

[0106] The device 150, 1000 may further comprise an interface 1020 for communications with at least one external device, such as a dust extractor or the like. As such the interface 1020 may comprise one or more transmitters and receivers, comprising analogue and digital components and a suitable number of ports for wireline or wireless communication.

[0107] The processing circuitry 1010 controls the general operation of the control unit 150, 1000, e.g., by sending data and control signals to the interface 1020 and the storage medium 1030, by receiving data and reports from the interface 1020, and by retrieving data and instructions from the storage medium 1030.

[0108] 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.

Claims

CLAIMS1 . Surface processing equipment (100) comprising a control unit (150, 155) and an environment sensor module (140) arranged to monitor a surrounding environment of the equipment (100), where the control unit (150, 155) is arranged to position the equipment (100) on the surface by the environment sensor module (140), where the control unit (150, 155) is arranged to detect that the equipment (100) is not in a nominal operating position and to cease positioning by the environment sensor module (140) in response to detecting that the equipment (100) is not in the nominal operating position.

2. The equipment (100) according to claim 1 , where the control unit (150, 155) is arranged to monitor and / or map a surrounding environment of the equipment (100) by the environment sensor module (140), where the control unit (150, 155) is arranged to cease monitoring and / or mapping the surrounding environment by the environment sensor module (140) in response to detecting that the equipment (100) is not in the nominal operating position.

3. The equipment (100) according to any previous claim, where the surface processing equipment (100) comprises 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.

4. The equipment (100) according to any previous claim, where the environment sensor module (140) is mounted on a fixed support bracket that provides a clear view of a plane (P) around at least part of the equipment (100).

5. The equipment (100) according to any of claims 1 -3, comprising an elongated handle portion (120) that is pivotably attached to a body (130) of the equipment (100), where the handle portion (120) is configured to support the environment sensor module (140) at its distal end (122).

6. A method for processing a work area (200) on a surface (101 ) by surface processing equipment (100) comprising a control unit (150, 155), the method comprising guiding (S1 ) the equipment (100) along a path (210) around at least a part of a perimeter of the work area (200), tracking (S2) the path (210) of the equipment (100), by the control unit (150, 155), determining (S3), by the control unit (150, 155), a geometry of the work area (200) as a region (220) at least partly delimited by the tracked path (210), configuring (S4) an autonomous function of the equipment (100) by the geometry of the work area (200), and processing (S6) the work area (200) by activating the configured autonomous function of the equipment (100).

7. The method according to claim 6, comprising inactivating (SO) a safety function of the equipment (100) prior to guiding the equipment (100) along the path (210).

8. The method according to claim 7, where the safety function comprises any of an object detection function, a surface monitoring function, an environment monitoring function, a collision avoidance function, or a collision warning function.

9. The method according to any of claims 6-8, where the surface processing equipment (100) comprises 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.

10. The method according to any of claims 6-9, comprising guiding (S1 1 ) the equipment (100) along the path (210) by remote control of the equipment (100).11 . The method according to any of claims 6-10, comprisingtracking (S21 ) movement of the equipment (100) at least in part by an environment sensor module (140) of the equipment (100) and / or by one or more wheel encoders (170) arranged in connection to respective traction wheels (160) of the equipment (100).

12. The method according to any of claims 6-1 1 , comprising determining (S31 ) the region (220) as a polygon bounded at least partly by the tracked path (210).

13. The method according to any of claims 6-12, comprising configuring (S41 ) the autonomous function by determining, by the control unit (150, 155), a processing path (310) to be followed by the equipment (100).

14. The method according to any of claims 6-13, comprising obtaining (S42) input associated with a desired processing path overlap (330) of the autonomous function and configuring the autonomous function of the equipment (100) by the desired processing path overlap.

15. The method according to any of claims 6-14, comprising obtaining (S43) input associated with a desired starting location (340) on the surface (101 ) for processing the work area (200) and configuring the autonomous function of the equipment (100) by the desired starting location (340).

16. The method according to any of claims 6-14, comprising determining (S44) a proposed starting location (340) on the surface (101 ) for processing the work area (200) and configuring the autonomous function of the equipment (100) by the proposed starting location (340).

17. The method according to claim 16, comprising obtaining (S45) input associated with a location of auxiliary equipment (240) on the surface (101 ) and determining the proposed starting location (340) on the surface (101 ) based on the location of the auxiliary equipment (240).

18. The method according to claim 16 or 17, comprisingobtaining (S46) input associated with a location of electrical mains (250) on the surface (101 ) and determining the proposed starting location (340) on the surface (101 ) based on the location of electrical mains (250).

19. The method according to any of claims 6-18, comprising determining (S5), by the control unit (150, 155), at least one work task parameter (320) associated with the configured autonomous function of the equipment (100).

20. The method according to claim 19, where the work task parameter comprises any of; a size of the work area (200), a time to complete processing of the work area (200), a tool consumption for processing of the work area (200), an amount of dust generated by processing of the work area (200), an energy consumption for processing of the work area (200).21 . The method according to any of claims 6-20, comprising adjusting (S61 ) a steering magnitude parameter of the autonomous function based on a current angle (a) between an extension direction of the processing path (310) to be followed by the equipment (100) and a forward direction (FWD) of the equipment (100).

22. The method according to any of claims 6-21 , comprising detecting (S7), by the control unit (150, 155), that the equipment (100) is not in a nominal operating position and inactivating an environment monitoring function of the equipment (100) when the equipment (100) is not in the nominal operating position.

23. The method according to any of claims 6-22, comprising triggering (S8) generation of a warning signal in response to detecting that the equipment (100) is located outside of the work area (200).

24. Surface processing equipment (100) comprising a control unit (150, 155) and an environment sensor module (140) arranged to perform a method according to any previous claim.

25. Surface processing equipment (100) comprising an environment sensor module (140), and a control unit (150, 155) arranged to control movement of the equipment (100) on a surface (101 ), where the control unit (150, 155) is arranged to monitor movement by the equipment (100) on the surface (101 ) at least in part by the environment sensor module (140), where the control unit (150, 155) is arranged to track a path (210) traversed by the equipment (100) on the surface (101 ) during a guiding phase of a surface processing operation, where the control unit (150, 155) is arranged to determine a geometry of a work area (200) as a region (220) at least partly delimited by the tracked path (210), and to configure an autonomous function of the equipment (100) by the geometry of the work area (200), where the equipment (100) is arranged to process the work area (200) by executing the configured autonomous function by the control unit (150, 155).

26. The equipment (100) according to claim 25, where the control unit (150, 155) is configured to determine a processing path (310) to be followed by the equipment (100) as part of configuring the autonomous function of the equipment (100).

27. The equipment (100) according to claim 26, where the control unit (150, 155) is configured to obtain input associated with a desired processing path overlap (330) of the autonomous function and to configure the autonomous function of the equipment (100) based on the desired processing path overlap.

28. The equipment (100) according to any of claims 26-27, where the control unit (150, 155) is configured to obtain input associated with a desired starting location (340) on the surface (101 ) for processing the work area (200) and to configure the autonomous function of the equipment (100) based on the desired starting location (340).

29. The equipment (100) according to any of claims 26-28, where the control unit (150, 155) is configured to determine a proposed starting location (340) on the surface (101 ) for processing the work area (200) and to configure the autonomous function of the equipment (100) based on the proposed starting location (340).

30. Surface processing equipment (100) comprising an environment sensor module (140), and a control unit (150, 155) arranged to control movement of the equipment (100) on a surface (101 ), where the control unit (150, 155) is arranged to obtain data indicative of a processing path (310) to be traversed by the equipment (100) on the surface (101 ), where the control unit (150, 155) is arranged to determine, at least in part by the environment sensor module (140), a current angle (a) between a forward direction (FWD) of the equipment (100) and an extension direction of the processing path (310) to be traversed, where the control unit (150, 155) is configured to adapt a steering magnitude of the equipment (100) according to an increasing function of the current angle (a).31 . A method for processing a work area (200) on a surface (101 ) by first and second surface processing equipment (100), where at least one of the first and the second equipment comprises a control unit (150, 155), the method comprising guiding (S1 ) the first equipment (100) along a path (210) around at least a part of a perimeter of the work area (200), while processing the surface (101 ) by the first equipment, tracking (S2) the path (210) of the first equipment (100), by the control unit (150, 155), determining (S3), by the control unit (150) and / or by a further control unit (155), a geometry of the work area (200) as a region (220) at least partly delimited by the tracked path (210),configuring (S4) an autonomous function of the second equipment (100) by the geometry of the work area (200), and processing (S6) the work area (200) by activating the configured autonomous function of the second equipment (100).

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