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EP-4741880-A1 - SELF-PROPELLED CONSTRUCTION MACHINE AND SYSTEM COMPRISING A MOBILE TERMINAL AND A METHOD FOR FINDING A REFERENCE STATION SET-UP POINT OF A SURROUNDING OF A SELF-PROPELLED CONSTRUCTION MACHINE

EP4741880A1EP 4741880 A1EP4741880 A1EP 4741880A1EP-4741880-A1

Abstract

The self-propelled construction machine I according to the invention has a DGNSS rover unit 14 for receiving satellite signals from a global navigation satellite system and correction signals from a reference station 15 to be set up in the vicinity of the self-propelled construction machine. The DGNSS rover unit 14 comprises a processing and evaluation unit 18, which is configured such that, based on the satellite signals and the correction signals from the reference station, construction machine position data describing the position of a construction machine reference point R on the construction machine is determined. The processing and evaluation unit 18 is further configured such that, for a reference station position data record stored in a reference station position data memory 23, at least one machine-readable data record, in particular a QR code, is generated, which is displayed on a display 8A. The QR code can be scanned with a smartphone 26 equipped with a map service and navigation function, making it easy to locate the installation point for a reference station in the field. Alternatively, the data can also be read using an NFC receiver (NFC reader) based on RFID technology.

Inventors

  • Müller, René
  • DeJong, Ruud

Assignees

  • Wirtgen GmbH

Dates

Publication Date
20260513
Application Date
20251029

Claims (15)

  1. Self-propelled construction machine with a machine frame (2) supported by running gear (10A, 10B, 11A, 11B) and a working device (3) for working the ground or erecting structures on a site, wherein the self-propelled construction machine comprises a DGNSS rover unit (14) for receiving satellite signals from a global navigation satellite system and correction signals from a reference station (15) to be set up in the vicinity of the self-propelled construction machine, and the DGNSS rover unit (14) has a computing and evaluation unit (18) which is configured such that, on the basis of the satellite signals and the correction signals of the reference station (15), construction machine position data describing the position of a construction machine reference point (R) on the construction machine (I) are determined in a coordinate system (X, Y, Z) independent of the construction machine, and the computing and evaluation unit (18) of the DGNSS rover unit (14) comprises a reference station position data memory (23) for storing a reference station position data set containing reference station position data, wherein the reference station position data each describe the reference station installation point of a reference station (15) of a plurality of reference stations to be installed within the radius of a path (16) along which the self-propelled construction machine moves, and characterized by the fact that the computing and evaluation unit (18) of the DGNSS rover unit (14) is configured such that for the reference station position data set stored in the reference station position data memory (23) a a machine-readable data set is created, or multiple machine-readable data sets are created.
  2. Self-propelled construction machine according to claim 1, characterized in that the machine-readable data set is a machine-readable code, in particular a QR code, and that the DGNSS rover unit (14) is assigned a display (8A), wherein the DGNSS rover unit (14) is configured such that the one machine-readable code is displayed on the display (8A) or at least one of the several machine-readable codes is displayed on the display (8A).
  3. Self-propelled construction machine according to claim 2, characterized in that that the computing and evaluation unit (18) of the DGNSS rover unit (14) is configured such that for all reference station position data stored in the reference station position data memory (23) of the reference station position data set, a machine-readable code containing the reference station position data of the respective reference station is generated, or that the computing and evaluation unit (18) of the DGNSS rover unit (14) is configured such that for all reference station position data stored in the reference station position data memory (23) of the reference station position data set, a machine-readable code containing the reference station position data of the respective reference station is generated, and the computing and evaluation unit (18) of the DGNSS rover unit (14) is configured such that the machine-readable codes of all reference station position data are displayed on the display (8A).
  4. Self-propelled construction machine according to claim 1, characterized in that a transmitter unit (27), in particular an NFC transmitter unit based on RFID technology, is assigned to the DGNSS rover unit (14), wherein the DGNSS rover unit (14) is configured such that the one machine-readable data set or at least one of the several machine-readable data sets is sent to a mobile terminal (26') via the transmitting unit (27).
  5. Self-propelled construction machine according to one of claims 1 to 4, characterized in that the computing and evaluation unit (18) of the DGNSS rover unit (14) is configured such that a machine-readable data record is generated which contains a URL of a website.
  6. Self-propelled construction machine according to one of claims 1 to 5, characterized in that the reference station position data storage (23) is assigned an interface (25) for importing reference station position data from an external data source (24).
  7. Arrangement comprising a self-propelled construction machine with a machine frame (2) supported by running gear (10A, 10B, 11A, 11B) and a working device (3) for working the ground or erecting structures on a site according to one of claims 1 to 6 and a mobile terminal device (26), in particular a smartphone, on which an online map service is available.
  8. Arrangement according to claim 7, characterized in that the mobile device (26) is configured such that the online map service is activated after scanning a QR code.
  9. Arrangement according to claim 8, characterized in that an online map service with a navigation function is installed on the mobile device (26).
  10. Method for finding a reference station setup point for a reference station to be set up in the vicinity of a self-propelled construction machine, wherein The construction machine (I) comprises a machine frame (2) supported by undercarriages (10A, 10B, 11A, 11B) and a work device (3) for working the ground or erecting structures on a site and a DGNSS rover unit (14) for receiving satellite signals from a global navigation satellite system and correction signals from a reference station (15) to be set up in the vicinity of the self-propelled construction machine, and the DGNSS rover unit (14) has a computing and evaluation unit (18) which is configured such that, on the basis of the satellite signals and the correction signals of the reference station, construction machine position data describing the position of a construction machine reference point (R) on the construction machine (I) are determined in a coordinate system (X, Y, Z) independent of the construction machine, with the following procedure steps: Importing a reference station position data set from an external data source (24) into a reference station position data store (23), wherein the reference station position data each describe the reference station setup point (P1, P2, P3, P4) of a reference station of a plurality of reference stations to be set up in the vicinity of a path (16) along which the self-propelled construction machine moves, and Creating one or more machine-readable data sets for the reference station position data set stored in the reference station position data memory (23) using the computing and evaluation unit (18).
  11. The method according to claim 10, characterized in that the machine-readable data set is a machine-readable code, in particular a QR code, wherein the method further comprises the following process steps: Representing a machine-readable code or representing at least one of the machine-readable codes of the several machine-readable codes on one of the displays (8A) associated with the DGNSS rover unit (14) and Reading the one machine-readable code or at least one of the several machine-readable codes using a mobile device (26), in particular a smartphone.
  12. Method according to claim 10, characterized in that the one machine-readable data record or at least one of the several machine-readable data records is sent to a mobile terminal device (26) by means of a transmitting unit (27), in particular an NFC transmitting unit based on RFID technology.
  13. Method according to one of claims 10 to 12, characterized in that an online map service is available on the mobile device (26) for locating the reference station setup point (P1, P2, P3, P4) in the field.
  14. Method according to claim 13, characterized in that an online map service with a navigation function is installed on the mobile device (26).
  15. Method according to one of claims 10 to 14, characterized in that the machine-readable code contains a URL of a website.

Description

The invention relates to a self-propelled construction machine with a machine frame supported by tracks and a working unit for working the ground or erecting structures on a site, wherein the self-propelled construction machine comprises a DGNSS rover unit for receiving satellite signals from a global navigation satellite system and correction signals from a reference station to be set up in the vicinity of the self-propelled construction machine, and the DGNSS rover unit has a computing and evaluation unit which is configured such that, based on the satellite signals and the correction signals from the reference station, construction machine position data describing the position of a construction machine reference point on the construction machine is determined in a coordinate system independent of the construction machine. Furthermore, the invention relates to an arrangement comprising a self-propelled construction machine with a machine frame supported by tracks and a working unit for working the ground or erecting structures on a site, and a mobile terminal device. Furthermore, the invention relates to a method for finding a reference station setup point for a reference station to be set up in the vicinity of a self-propelled construction machine. Self-propelled construction machinery encompasses all construction machines equipped with a working unit mounted on a machine frame for constructing structures on a site or for altering the terrain. Well-known examples of self-propelled construction machinery include road milling machines, stabilizers, recyclers, slipform pavers, and asphalt pavers. In road milling machines and recyclers, the working unit comprises a milling/cutting drum fitted with milling or cutting tools, which removes material from the terrain to a predetermined working width. The working unit of slipform pavers... This is a device for shaping flowable material, especially concrete, with which structures of various designs, such as barriers or traffic islands, can be produced. Known road pavers have a screed for laying the material for the road surface. Soil compactors, such as road rollers, have at least one compaction device for compacting the subsoil. When constructing buildings on the ground surface or altering the terrain, high demands are placed on the precision of the construction work. Therefore, when controlling self-propelled construction machines, there is an increasing focus on relieving the operator, who is burdened with a multitude of tasks during construction. For this reason, position determination systems are used in known self-propelled construction machines, which determine the position of a reference point on the machine in a coordinate system independent of the machine itself. GPS (Global Positioning System) is a well-known positioning system based on the evaluation of signal travel times from multiple satellites. The abbreviation GPS is now used colloquially, and sometimes even technically, as a generic term or pars pro toto for all satellite navigation systems, which are correctly grouped under the acronym GNSS (Global Navigation Satellite System) (Wikipedia: GPS). DGPS (Differential Global Positioning System), or DGNSS, is a method that increases the accuracy of GNSS positioning by transmitting correction signals (orbital and time systems). DGNSS can also utilize stationary reference stations, called base stations, which allow for the precise determination of the actual signal travel times for each satellite based on the discrepancy between the actual and received positions. The differences between the theoretical and actual signal travel times are transmitted to the DGNSS receivers, which correct their position using these correction signals (Wikipedia: DGPS). The following section discusses a GPS rover unit or GNSS rover unit, also understood as DGPS or DGNSS rover unit or vice versa, with the terms (D)GPS and (D)GNSS being used synonymously. The DE 197 56 676 C1 This document describes a road milling machine equipped with a DGNSS for positioning. The machine features a DGNSS rover unit for receiving satellite signals from a global navigation satellite system and correction signals from a reference station. The DGNSS rover unit is configured to determine position data describing the position of a reference point on the machine in a coordinate system independent of the machine, based on the satellite signals and the correction signals. To determine the correction signals, the reference station must know its own position. From the DE 10 2022 124 484 A1 A positioning system for determining the position of a reference point on a self-propelled construction machine is known, which has a DGNSS rover unit for receiving satellite signals from a global navigation satellite system and correction signals from a reference station. The reference station is configured to determine its own reference station position. However, since the reference station's self-determined posit