DE102007020328A1 - Driving machine, particularly stud cleaning machine for use in construction, has chassis, energy storage and driving motor that proceeds automatically, are propelled by energy taken from energy storage - Google Patents

Abstract

The driving machine (1) has a chassis, an energy storage and a driving motor that proceeds automatically, are propelled by energy taken from the energy storage. A data storage, in which the information is provided within the construction over the topography. An electronic controller, which determines data of the track within the construction. The data is supplied by evaluation of the sensors.

Description

The The invention relates to a self-propelled machine in a building. Such a machine can for example serve to transport goods, or by means of a suction device liquids, sawdust or to pick up the same and thus automatically clean a hall floor, For example, after the end of work of the staff.

One Particularly advantageous application is the use of the machine as a mobile stall cleaning machine. The following is therefore the proposed automaton always explained by this example, without that the present proposal is limited to this.

In agriculture is the cleaning of stable floors, in particular so-called "slatted floors", regularly required. To this work as possible perform economically to be able to are cleaning devices known.

Of the Invention is based on the object, a self-propelled machine a, which drive without operators within the building automatically can and which automatically takes into account changing obstacles. In particular, a cleaning device in the form of a mobile stall cleaning machine be created.

These Task is by a self-propelled machine with the features of claim 1 and by a stall cleaning machine having the features of the claim 35th

The Invention proposes in other words, a self-propelled vending machine due to the stored data without the need of a vehicle operator his way over the Floor of the building, z. B. over the stable areas to be cleaned place. Apart from purely vehicle-typical features such as energy storage, Drive motor and chassis is proposed provided that a variety of sensors serves to provide a reliable orientation of the machine in the building too enable. By means of a suitable electronic control can be ensured Be sure that the areas of the soil to be cleaned are completely and reliably cleaned regularly Be or to be approached stations or departing routes reliable be visited. The proposed automaton will be explained below of the example of a stall cleaning machine explained.

Of the Vending machine can take the stall floor along one at random departing route and the already traveled sections save. While the ride will be the already traveled sections in the Type considered, that first preferably not yet used stable areas are traveled.

alternative can a given route in a memory of the electronic Control be programmed so that the machine the stable floor cleans along a predetermined, optimal route, for example along the shortest possible Route, and accordingly with the least possible time and Energy expenditure.

Especially can advantageous several different driving programs in the electronic Control be deposited, so that at different intervals different track layout be driven off. For example, areas of the stable, the regularly strong are polluted, used and cleaned several times a day, and less heavily soiled areas correspondingly less frequently, for example only once a day or even rarer.

Advantageous can be provided that the machine subsequently to the cleaning drive automatic drives to a charging station. Purely by way of example, it is assumed that the machine is electrically driven is or at least an electrical energy storage for the drive and for having the electronic control, so that the charging station, for example to the public Power grid or to a private power supply such as a combined heat and power plant or a solar system can be connected. Otherwise or also in addition To the electric charge, the charging station can also use energy deliver in another way to an energy storage of the machine, for example in the form of liquid Fuel or gas.

at the preferred electrical charge, the connection to the Charging station done by electrical contacts of the machine be led to electrical contacts of the charging station, so that the charging process can be done. Alternatively, the electrical charging process can be inductive, so contactless take place, for example, through closed housing surfaces, so that no sensitive to contamination electrical contacts are required.

Due to the fact that the topography of the stall is stored in the electronic control system, the automat can easily drive automatically to the charging station, either after completion of a complete cleaning run or when the energy supply in the energy store has dropped correspondingly far, so as to avoid that the machine " In addition, the stored data of the stall topography allow a comparison with the sensory recorded data of the stall topography and, accordingly, the position determination of the machine within the stable.

The In the machine to be stored data of the stall topography z. B. in the form of the floor plan, or stored by it be that the automaton leaves the stable for the first time, for example from one User controlled, and at this Erstbefahrung those of the sensors recorded data as a reference data model. For this the barn is preferably empty at first inspection, so that in fact only the topography of the stall is sensory and not about Cattle in the stable.

in the Compared to a local positioning system, which several in the stable distributed transmitter whose signals similar to the known global Positioning system GPS evaluated for determining the position of a receiver be, the proposed machine is more economical, since the Transmitters are not required. This is the proposal at hand assume that a stall cleaning machine anyway with sensors must be provided in order to avoid obstacles that are only temporarily in the barn and therefore a renewed Storage of the stable topography in the machine does not justify, be it a shovel stored in the barn or be it living Obstacles like humans or livestock. The sensory and control technology Additional expenses for the proposed design The vending machine is therefore compared to the installation and maintenance a local positioning system more economical.

moreover The system control can be programmed with little effort be that a multiple identically registered change in the stall topography to the corresponding change the stored stable topography leads. For example, the fixed one Installation of a grille, the installation of a cow brush or brush The like will not be more than a few rides of the machine Obstacle, or after the dismantling of such a stable equipment should be reliable the entire stable floor to be cleaned. Both cases require a change the previous route of the machine. After a few trips of the Vending machines will be the respective change no longer considered as an obstacle, but the changed stall topography as permanently evaluated the initially stored stable topography So the changed Situation adapted. As a result, z. B. a faster Cleaning done, if namely for example, a slow speed of the machine when approaching an obstacle is provided and now the change made in the stable is no longer evaluated as an obstacle in the electronic control.

in the Differences to these "permanent" changes provide other obstacles like the aforementioned shovel stored in the stable or living obstacles like humans or livestock sensor signals, which are expected at every drive of the machine differ from each other, so the controller here the vending machine operate in an "obstacle" mode, for example can, for example, with slowed down speed. So can for example, contact with the obstacle and gentle pressure be provided on the obstacle to resting on the stable floor Encourage livestock to get up and leave the field.

The A large number of sensors on the one hand causes a redundancy of the sensor signals in that signals from two or more identical sensors are evaluated become. If one of these sensors fails, so allow the remaining Sensors provide sufficient information to the orientation of the machine in the room, d. H. to allow in the stable. So For example, it may happen that livestock circling the stable into the detection range of a sensor device, so that this sensor is not the stable walls, Columns, Stable installations or other fixed topographical features of the stable can capture, and so that in a row the possibility for position determination of the machine within the stable is naturally deteriorated. The additionally allow sensors provided However, to compensate for the information loss of this one aforementioned sensor, so that nevertheless a sufficiently accurate position determination of the machine possible within the stable is.

The proposal continues provided that not just multiple copies of a specific type of sensor but at least two different sensor types, so that this also interferes with the z. Possibly the information quality of a certain sensor type, by the other type of sensor can be compensated.

Advantageous At least one distance sensor may be provided which has a comparatively large Range of, for example, ten meters or more. To within this big one Reach not to get too much information is the coverage angle This distance sensor of long range made narrow. For example, such a distance sensor may be to be a weak, biologically harmless laser, like he for measuring distances or lengths from the home improvement or construction sector, or an ultrasonic sensor.

In order to detect the largest possible range sensorically even at a greater distance, preferably two or more, for example be provided three front-facing sensors on the machine, which - as described above - have the comparatively long range and each having a comparatively narrow detection angle.

Advantageous can be provided, two laterally outward and obliquely upwards Distance sensors great Provide reach, so that in the direction of travel in front of the machine lying topography of the stable ceiling can be scanned or even In the stall located internals are thereby detected, such as Grid, columns od. Like. Of course become thereby also movable obstacles, like personnel or Livestock circling in the barn is detected as soon as the machine reaches this point Has approached obstacles sufficiently far.

Advantageous can a vertically upwardly oriented rangefinder comparatively long range be provided so that the hall ceiling can be scanned. If, for example, ramps or the like are provided and parts of the stable at different height levels, the Space height detected by the vertical sensor as a redundant signal thereto serve to establish or confirm in which building part with which room height the automat is located. In addition, can be provided on the ceiling Contours are scanned, for example, from ceiling joists od. Like., Which can serve for a fine determination of the position, after first when setting up the machine these topographic Information of the stable are stored in the machine.

Advantageous can two long-range distance sensors aligned to the two sides be provided, so that even if the machine of a Wall is located a stanchion or the like, for example in the middle of the room, by the distance from the nearest lateral Obstacles that support position determination of the machine in the stable and is relieved.

Two or more rear-facing distance sensors of long range and narrow viewing angle are not only used in reverse allow for the timely detection of obstacles, but allow compared to the rest Information one possible precise Position determination of the machine.

Advantageous For example, a distance sensor with a wide coverage angle can be used be. This not only provides additional information about the stall topography, son also serves, for example, to collisions with obstacles avoid.

The Distance sensors can preferably be configured as ultrasonic sensors, as these in contrast to optical sensors, for example laser-based sensors, are much less sensitive to contamination. The distance sensors short range with wide club, as the detection range also called can preferably aligned forwards and backwards on the machine be, preferably in favor of redundancy of the information and thus an improved information security in each case at least two such distance sensors can be provided.

Advantageous the machine can be a sensor for determining the orientation of the Have machines in the stable. In such a direction sensor it can be, for example, a compass, for example an electronic compass or direction sensor, or it can a GPS sensor may be provided as a position sensor, however not used for exact positioning within the house but only to determine the orientation, ie the direction, in which the machine is located. With the help of this direction sensor can with the temporary failure of other sensor signals the traversed Driving distance of the machine are coupled, so be calculated so that at least an approximate Position determination possible is. In addition, results from the interaction of the individual sensor signals different sensor types a refinement of the position determination.

Advantageous The stall cleaning machine may have a sensor that does not outward is directed, so no signals of the housing topography itself recorded, but the inside of the drive unit of the machine signals evaluates that for the journey of the machine in the stable are relevant. In this way becomes the above-described "coupling", ie the calculation the position of the machine, due to its sky orientation and his supposed propulsion enabled. For this reason, this sensor is called an internal sensor, whereby thereby not the spatial Arrangement of the sensor is called, but the fact that this no signals from outside of the machine, but from the drive of the machine itself evaluates originating signals.

Thus, for example, this internal sensor can advantageously be designed as a rotation sensor which registers the rotational movement of an impeller of the machine, a drive shaft or a transmission element. The sensor signals can then be used to calculate, for example, the distance traveled by the machine or the travel speed of the machine, this calculation being carried out, for example, in the electronics rule of the machine can be done. In particular, if two internal sensors are provided and thus two wheels of the machine are detected separately by sensors, speed differences can also be used to calculate a change in direction of the machine.

Advantageous can the stall cleaning machine with at least one acceleration sensor be equipped with the vertical acceleration of the machine detected. In this way, for example, run over by the machine Detecting bumps. When crossing the columns of a Slats occurring shaking for example, recognized. So can in the electronic control of the machine are "counted", as it were Overrun columns of the machine has, so based on these columns a fine orientation of the machine can take place, which the remaining Position information based on the remaining sensor signals supported.

Preferably can over each of the wheels the machine such a vertical acceleration sensor available be, so that thereby also an inclination of the machine are detected For example, if this one does not have two on one axis located, parallel wheels simultaneously over a column or other unevenness of the ground drives. On that way too Steering corrections are made to the machine on its to keep the intended route. This way unbalanced resistances can be compensated as they occur, for example, by the contaminants to be cleaned can and that to a skew lead the machine can.

Advantageous can the energy storage of the machine as an electrical energy storage be designed. Recharge or recharge the energy storage with energy is possible in this way safely and pollution free.

the electrical energy storage is advantageous a voltage sensor assigned to detect the electrical voltage of the energy storage. On this way, the energy content of the energy store during the Drive of the machine supervised be considered and in the electronic control of the machine become. If, for example, the distance still to be covered by the cleaning trip for the anticipated energy needs of the machine is too long can the cleaning trip will be automatically canceled and the machine first automatic drive to the charging station, after charging the energy storage device accordingly to complete the canceled cleaning drive. This way you can the automaton not only for very big barn area can not be used with the energy of the energy store to clean a train, but it can too circumstances considered be like an elevated one Driving resistance, therefore more drive energy than intended consumed, so that in each case reliably ensures that the machine is not in the middle of the stable with empty energy storage remains.

Advantageous a rotation sensor may be provided which controls the rotation of the Automata recorded around its vertical axis. In this way, swivel movements of the machine during his route are recorded and then compensated, so that a straightforward ride is also possible when the machine performs unplanned pivoting movements, so that a planned Cleaning section reliable can be traveled. The unplanned pivoting movements of the machine around his vertical axis for example, by resistors be caused, which are on the stable floor and the example only one-sided effect on the machine, for example, only on one of two wheels an axis, or they can be done by livestock located in the stable the machine occurs.

Advantageous For example, the machine may have at least one inclination sensor. The Signal of the tilt sensor, for example, in an unplanned imbalance cause the vending machine to that the electronic control automatically triggers a call for help, so that In this way, operators will be requested which the Vending machines then checked. Of the Call for help, for example, over Operational radio or a mobile network directly to the operating personnel be sent, or it may be an optical and / or acoustic Signal somewhere in the yard, for example, outside the stable, be triggered.

Farther For example, the tilt sensor can be used as a redundant data acquisition system for improving the accuracy in determining the position of the Vending machines are used. For example, when driving over ramps, heels, hollows or similar Uneven floors are regularly inclined positions result of the machine, which are sensory detected and thus can be used for a fine determination of the position.

Advantageous can be a tilt sensor for detecting the side tilt of the machine be provided, wherein the detection of the lateral inclination of the machine For example, it may serve to establish that the automaton - scheduled or unplanned - up get an edge strip of a designated route section is or drives along a groove in the stable floor.

Preferably For example, an inclination sensor can be provided which determines the inclination of the machine longitudinal which may, for example, provide an indication that the automaton momentarily over a ramp or a heel of the stable floor drives.

Preferably can these two aforementioned or otherwise oriented, crosswise to each other arranged tilt sensors may be provided so that inclinations reliably detected by the machine in any direction of inclination can be.

Advantageous the machine can have a force sensor. This force sensor For example, the force acting on an impeller of the machine driving force capture, for example in the form of a torque or current consumption measurement for this Wheel.

Farther a force sensor can advantageously be designed as a pressure sensor, which detects the force acting on an obstacle thrust, with which the machine pushes against this obstacle. For example, in the approach to an animal lying on the stable floor can first with very low speed made contact with the cattle and then can by increasingly increasing drive force an increasingly stronger pressure be applied to the cattle.

The Signals from the pressure sensor can serve to control the construction of this pressure and in particular can be provided upon reaching a maximum pressure and by the electric control are controlled so that the automaton subsequently reverses and the obstacle goes round, for example, a persistent or sick animal, or even a box set down on the stable floor. An obstacle, which the provided cleaning path of the machine is adjusted in this way automatically bypassed by the stall cleaning machine, so that the Cleaning process does not fail due to this obstacle and is canceled, but continued after passing the obstacle and can be completed.

Advantageous At the front of the machine, a cleaning bar is provided, which covers the floor cleaned and rests accordingly on the floor. With "resting" is in the first place Line indicates that this cleaning bar makes contact with has the ground in order to clean it. The weight of the cleaning bar can be carried by the machine, which turns up with his wheels supported by the ground, so that the cleaning bar in view of its own weight a reduced Exerts ground pressure.

alternative but "lying down" can actually mean that the cleaning bar with its entire weight on the floor rests, so that by this weight of the cleaning bar a acting on the ground contact pressure of the cleaning bar causes which supports the cleaning action of the cleaning bar.

Of the Cleaning bar has a bottom contacting Cleaning element, which in a conventional manner as a fixed Element may be configured, such as a wiper lip, or which in a manner also known per se as a mobile Element can be configured, such as a brush or like. The present proposal assumes that it is sufficient for cleaning the stable floor that the machine the impurities over promotes the soil to a collecting trough, and for example in a slatted floor in the next column promotes, so that the cleaning machine no receptacle for collecting and transporting away the impurities must be provided.

Advantageous the cleaning bar is substantially transverse to the direction of travel aligned so that no strong lateral forces on the machine during the Drive in. However, the cleaning bar can be slightly tilted be to when driving over of columns no sudden, To cause comparatively strong driving resistance when he first over his whole length dips into a column and then gets to the edge of the column and there over his whole length is applied. The mentioned Strong driving resistance can lead to an undesirably high energy consumption lead the machine, and consequently the range of the machine undesirable restrict or the charging times required for charging the energy storage undesirable extend.

There at an angle However, the machine running to the columns also enters tilted Immerse cleaning bar in the manner described in a column can, the cleaning bar can advantageously extend bent over its length. Because the Columns of known slats always run straight, thus ensuring that always a first Portion of curved cleaning bar on the ground surface, and only a second section of the cleaning bar over the Column runs, however, due to the supporting effect of the first section does not undesirably penetrate deep into the column.

Advantageously, the cleaning bar is mounted vertically movable on the machine, so that, for example, when hitting obstacles that rest on the floor, or on smaller heels or the like can move upwards.

there can particularly advantageously provided a parallelogram so that the cleaning bar always be relative to the ground maintains intended orientation and only in height is adjustable. In contrast to a height adjustment, for example through vertical slots, rails or the like, causes the parallelogram Moreover, that tilting of the cleaning bar is excluded and easy mobility is ensured.

Advantageous the cleaning bar can be mounted in a pendulum-movable manner, so that he can avoid an obstacle by his pendulum mobility.

there The cleaning bar may be advantageous around the vertical axis of the machine be mounted pendulum movable, so at its two ends forward and be movable to the rear. For example, if the machine is too close to a lateral obstacle such as a stable wall device, the cleaning bar can by this pendulum mobility this Dodge obstacle. The resulting pendulum inclination The cleaning bar can be detected by sensors, so that the inclination the cleaning bar can be used to, by means of the electronic Control to make steering corrections and the obstacle, which this inclination caused, for example, by the distance of the machine to the mentioned Wall is enlarged.

alternative to or in addition the cleaning bar can advantageously be pendulum-movable about the longitudinal axis of the machine be stored, so be movable at its two ends upwards. If the machine to a comparatively small, off-center obstacle device, such as a stone, the cleaning bar can by his Pendulum mobility avoid this obstacle without affecting the entire Cleaning bar is raised. In addition, by means of this pendulum mobility at an inclination of the moving in a gutter, for example, the cleaning bar still rest on the stable floor as large as possible.

Advantageous The cleaning bar may be at both its lateral ends respectively have a rounded contoured deflector. The actual cleaning element itself can be spared in this way and the deflector can as a wear element be designed, which in deformation, according to strong Abrasion or the like can be replaced, so that Contact with lateral obstacles of the cleaning bar itself not damaged or worn out. The rounded contour of the deflector causes that the cleaning bar and thus the entire machine is not at a first contact with a lateral obstacle downright wedged or hooked, allowing a continuation of the machine as well is easily possible in contact with a lateral obstacle.

The fundamental Construction of the cleaning machine, for example, designed to the effect be that first behind the cleaning bar two front drive wheels are provided and behind the drive wheels at least one directionally movable impeller is provided. hereby will have excellent maneuverability of the stall cleaning machine allows.

there can the two front wheels to serve to steer the machine. In this case, the directional Impeller freely turnable and the steering movements of the machine consequences. The steering by the two prede ren wheels can for example, by being driven separately are or - if necessary driven together - on are mounted on a turntable.

alternative to steer the machine by means of the two front wheels, can be provided, the directional impeller as a steering wheel to use and z. B. to adjust motor in his direction.

moreover the arrangement of the driven wheels can not be at the back of the machine, so in a comparatively large distance to the cleaning bar, but rather near the front the cleaning bar to be used, a high ground pressure to concentrate the stall cleaning machine in its front area, where on the one hand a good traction for the drive wheels required is, and where a good cleaning effect through the contact between the cleaning bar and the floor should be ensured. This can be achieved, for example, by being near the front drive wheels also the further drive means are arranged, one or a plurality of electric motors are provided, the nature of a related have on their volume comparatively high weight, and also Gear means or the electrical energy storage can in This front area of the machine can be arranged to the desired floor load the drive wheels and the cleaning bar.

One embodiment a proposed stall cleaning machine will be described in more detail below with reference to the purely schematic illustrations. The show

1 u. 2 Perspective views from two different directions from the top of the machine,

3 u. 4 two perspective views from below of the machine,

5 a side view, and

6 a view from the back on the machine.

In the drawings is with 1 generally called a stall cleaning machine. This has two front, driven wheels 2 on and a rear, steerable wheel 3 , In front of the front wheels 2 is a cleaning bar 4 arranged transversely to the direction of travel, which is a protective housing 5 which has an approximately C-shaped, downwardly open cross-section. Inside the protective housing 5 is a metallic, C-shaped profile strip 6 arranged, which is a rubber lip 7 holds.

The cleaning bar 4 is how particular out 6 becomes clearly, mounted around an axis lying horizontally in the direction of travel pendulum, and also to a vertical axis pendulum, the pendulum mobility is limited in both directions.

The cleaning bar 4 is by means of a parallelogram 8th height-adjustable at the stable cleaning machine 1 held and is burdened by its own weight with the rubber lip 7 on the stable floor.

At the two lateral ends are made of metal or plastic plates as a deflector 9 provided with rounded side contour, interchangeable with the protective housing 5 are fastened, namely screwed. Furthermore, at the two lateral ends of the cleaning bar 4 both at the front and at the rear edge of the cleaning bar 4 one baffle each 10 provided, which compared to the rest of the protective housing 5 is set obliquely, such that when driving forward or reverse of the machine 1 at the edge of the detection area of the cleaning bar 4 Contaminants to the center of the cleaning bar 4 be guided, so from the baffles 10 to the protective housing 5 are guided due to the oblique employment of the respective Leit plate 10 , The baffle 10 can in each case actually be designed as a sheet metal. In the illustrated embodiment, however, there are the baffles 10 made of plastic, so that they can be deformed on contact with obstacles and therefore no unacceptably high force into the protective housing 5 cause. In addition, the baffles 10 interchangeable with the protective housing 5 connected, namely screwed.

The machine has a housing 11 , which is designed hood-like in its upper part and for the protection of the machine 1 arranged internals is used. So are inside the case 11 Drive motors and gear means for the driven wheels 2 provided as well as an energy storage for the power supply of the drive motors. These comparatively heavy components of the stall cleaning machine 1 are in the area around the axis of the two front wheels 2 summarized, so that in this front area a good ground contact pressure is enabled and, accordingly, a good traction of the driven wheels 2 and the rubber lip 7 ,

A large number of sensors of partly identical and partly different types are inside the housing 11 arranged so that on the outside of the housing 11 obstructive overhangs that could easily be damaged are avoided. The housing is on the one hand designed so that it can withstand high mechanical loads and on the other hand so that the inside of the housing 11 located sensors through the housing 11 through the surroundings of the stall cleaning machine 1 can capture. If, depending on the type of sensor, the housing material is an impenetrable obstacle for a specific sensor, then the housing points 11 in the appropriate area a window so as not to interfere with the operation of the sensor. This window is not left empty, but filled with a sensor not hindering material, so that the overall smooth-surfaced outer design of the housing 11 is maintained. For example, the housing 11 consist of metal and a window may consist of a permeable to the sensor sensor plastic or fiber composite.

Furthermore, in the housing 11 housed an electronic control, which on the basis of a stored data model and the information supplied by the sensors, the position determination of the machine 1 carries out and determines its further path along a so-called cleaning section, which leads the machine over the stable floor surface to be cleared away. Subsequently, the electronic control leads the machine 1 to a charging station, wherein the charging process can be monitored by an external control or by the same internal, in the stable cleaning machine 1 existing electronic control, so that, for example, the strength of an electric charging current after charging the electrical energy storage can be reduced to a so-called maintenance charging current.

Notwithstanding the illustrated Ausfüh example, at the two ends of the cleaning bar 4 in place of the deflectors 9 or additionally in each case a Abweiserrolle be provided which is arranged horizontally and rotatable about an upright axis. Due to the rotatability of the deflector roll is particularly reliable ruled out that the machine 1 with its cleaning bar 4 can hang on a wall or similar side obstacle.

Claims (35)

self-propelled machine in a building 1 ), with - a chassis, an energy storage device and a driven by the energy stored energy, the machine moving drive motor, - a variety of sensors, as well as at least two different sensor types, which the automata ( 1 ) capture surrounding topography, such that even if one or more sensor signals fail, a reliably accurate position determination of the automaton ( 1 ) within the building is possible, - a data memory, in which information about the topography are stored within the building, - and an electronic control, which determines the route within the building so that this to predetermined by evaluating the data supplied by the sensors Points and / or along predetermined route sections runs. Machine according to claim 1, characterized by at least a distance sensor with large Range and narrow coverage angle. Machine according to claim 2, characterized by at least two front-facing distance sensors of long range. Machine according to claim 2 or 3, characterized by two at an angle up to the two sides and front-facing distance sensors greater Range. Machine according to one of claims 2 to 4, characterized through a vertically upwardly oriented distance sensor greater Range. Machine according to one of claims 2 to 5, characterized by two side-facing distance sensors of long range. Machine according to one of claims 2 to 6, characterized by at least two rear-facing distance sensors greater Range. Machine according to one of the preceding claims, characterized by at least one distance sensor with a short range and wide coverage angle. Machine according to claim 8, characterized in that that the distance sensor of short range has a detection angle of at least 60 °. Machine according to one of claims 8 or 9, characterized by at least two rear-facing distance sensors short range. Machine according to one of claims 8 to 10, characterized by at least two front-facing distance sensors short range. Machine according to one of claims 2 to 11, characterized that the distance sensor is designed as an ultrasonic sensor. Machine according to one of the preceding claims, characterized by at least one sensor for determining the orientation of the Vending machines in the building. Machine according to claim 13, characterized that the alignment sensor is designed as a compass. Machine according to one of the preceding claims, characterized by at least one sensor, referred to as an internal sensor, within the drive unit of the machine ( 1 ) for detecting a movement of the machine ( 1 ) in the building relevant movement. Machine according to claim 15, characterized in that the internal sensor is designed as a rotation sensor which is mounted on an impeller ( 2 . 3 ), a drive shaft, a transmission element or the drive motor is arranged. Machine according to one of the preceding claims, characterized by at least one acceleration sensor for detecting the vertical acceleration of the machine ( 1 ). Machine according to claim 17, characterized in that above each impeller ( 2 . 3 ) An acceleration sensor is arranged. Machine according to one of the preceding claims, characterized in that the energy store of the machine ( 1 ) as an electrical energy is designed giespeicher, and that at least one voltage sensor for detecting the electrical voltage of the energy storage is provided. Machine according to one of the preceding claims, characterized by at least one rotation sensor for detecting the rotation of the machine ( 1 ) around its vertical axis. Machine according to one of the preceding claims, characterized by at least one tilt sensor. Machine according to claim 21, characterized that the tilt sensor for detecting the inclination of the machine longitudinal axis is arranged. Machine according to claim 21, characterized in that the inclination sensor for detecting the lateral inclination of the machine ( 1 ) is arranged. Machine according to one of the preceding claims, characterized by at least one force sensor. Machine according to Claim 24, characterized in that the force sensor is mounted on an impeller ( 2 ) of the machine ( 1 ) acting driving force detected. Machine according to claim 24 or 25, characterized that the force sensor is designed as a pressure sensor, which the detected on an obstacle thrust detected. Machine according to one of the preceding claims, characterized by a front, resting on the floor cleaning bar ( 4 ). Machine according to claim 27, characterized in that the cleaning bar ( 4 ) substantially transversely to the direction of travel of the machine ( 1 ) is arranged. Machine according to claim 27 or 28, characterized in that the cleaning bar ( 4 ) is bent over its length. Machine according to one of claims 27 to 29, characterized in that the cleaning bar ( 4 ) vertically movable at the machine ( 1 ) is stored. Machine according to claim 30, characterized in that the cleaning bar ( 4 ) by means of a parallelogram guide ( 8th ) vertically movable at the machine ( 1 ) is stored. Machine according to one of claims 27 to 31, characterized in that the cleaning bar ( 4 ) is mounted pendulum movable. Machine according to one of claims 27 to 32, characterized in that the cleaning bar ( 4 ) at its two lateral ends in each case a rounded contoured deflector ( 9 ) having. Machine according to one of claims 27 to 33, characterized by two behind the cleaning bar ( 4 ) arranged front driven wheels ( 2 ) and at least one behind these wheels ( 2 ) arranged directionally movable impeller ( 3 ). Stall cleaning machine, characterized in that it is designed as a self-propelled machine according to one of the preceding claims, and one from the machine ( 1 ) has ground cleaning cleaning member, and that the electronic control determines the route within the house so that the track on the abzustinigenden stable floor surfaces.