SELF-PROPELLED AND SELF-STEERING GROUND-WORKING DEVICE AND METHOD FOR OPERATING GROUND-WORKING DEVICE

摘要

The invention relates to self-propelled and self-steering ground-working device, comprising a ground-working assembly (30) for working the ground surface (12), a control unit (24), a memory unit (26), in which a map (28) of an area (14) to be worked is stored, wherein at least one restriction region (38) is stored in the map (28), which region is associated with a movement restriction for the ground-working device (10) in the area (14), a chassis (16) comprising drive wheels (20) and drive devices (18) associated therewith, which are coupled to the control unit (24) to control the movement of the ground-working device (10) over the ground surface (12) on the basis of the map (28), a first sensor unit (42) and a second sensor unit (44), each coupled with the control unit (24), wherein the control unit (24) is able to determine from signals from the first and the second sensor unit (42, 44) a first position (54) and a second position (60) of the ground-working device (10), is able to check the positions (54, 60) for deviations and is able to determine, as an outcome of the check, an unsafe zone (66) for the actual position of the ground-working device (10), wherein the movement of the ground-working device (10) is restricted according to the movement restriction on contact or intersection of the unsafe zone (66) with the at least one restriction region (38). The invention also relates to a method.