Self-propelled construction machine, system and method comprising a self-propelled construction machine

Abstract

The invention relates to a self-propelled construction machine, in particular a road milling machine, for carrying out a work process on a ground surface or for erecting a structure on a ground surface, after which another construction machine carries out another work process. The construction machine according to the invention comprises a mobile radio communication device, a GNSS receiver, a GNSS evaluation device or a mobile radio evaluation device and a GNSS evaluation variable acquisition device or a mobile radio evaluation variable acquisition device. The GNSS evaluation device or the mobile radio evaluation device is arranged to determine, during the advance of the construction machine, at least one evaluation variable B which evaluates the quality of the GNSS signal or the mobile radio signal at a specific location in the terrain at a plurality of locations in the terrain, and the GNSS evaluation variable acquisition device or the mobile radio evaluation variable acquisition device is arranged to use the position data determined by the GNSS receiver at the specific location in the terrain to generate a spatial telemetric data set which describes the quality of the signal at the specific location.

Description

Technical Field

[0001] This invention relates to a self-propelled construction machine for performing ground work or erecting structures on the ground during a previous operation, followed by another operation using another construction machine. Furthermore, this invention relates to a system comprising a self-propelled construction machine and a cloud storage device, the self-propelled construction machine being used for performing ground work or erecting structures on the ground during a previous operation, followed by another operation using another construction machine. This invention also relates to a method for performing ground work or erecting structures on the ground using a self-propelled construction machine during a previous operation, followed by another operation using another construction machine.

[0002] Self-propelled construction machinery is characterized by having a working device arranged on a mechanical frame for working on the ground, such as milling the ground or erecting structures on the ground, such as driveways. In the following text, "ground" is understood to mean the subsurface layer, which can also be the (damaged) road to be worked on. Self-propelled construction machinery can be road milling machines, recycling machines, soil stabilizers, bulldozers, road rollers, graders, road pavers, slipform pavers, or feeders. In the case of a road milling machine, for example, the working device includes a milling drum equipped with milling tools for removing material of a specified working width. For example, in the case of a road paver, the working device includes a screed for placing material for the driveway.

[0003] In the case of self-propelled construction machinery, the aim is to achieve largely automated control of the machinery without significant intervention from the vehicle driver.

[0004] Known methods for controlling self-propelled construction machinery presuppose the use of a guide wire to specify a trajectory. However, self-propelled construction machinery can also be controlled using a total station for positioning and / or a Global Navigation Satellite System (GNSS) comprising multiple satellites.

[0005] The use of Global Navigation Satellite Systems (GNSS) for controlling construction machinery has proven successful in practice. However, this control of construction machinery requires the reception of signals from GNSS. In practice, however, satellite signal reception can be interfered with by, for example, shadows caused by trees or building coverings, resulting in GNSS being unable to determine the location of construction machinery in the terrain, or unable to determine the location of construction machinery with sufficient accuracy.

[0006] However, for accurate positioning, not only is the signal strength of the satellite signal crucial, but other factors also play a vital role. Positioning using GNSS is based on determining the distance to the satellite through signal flight time measurements. Therefore, the accuracy of positioning depends on the accuracy of the available satellites' positions relative to each other (satellite constellation) and the accuracy of the time measurements (flight time). Thus, all factors determining positioning accuracy have an impact on the quality of the GNSS signal. In the following text, the quality of the GNSS signal is understood to refer to a quality standard suitable for positioning accuracy. Therefore, accurate positioning requires a high-quality GNSS signal. The GNSS signal is also understood to refer to all correction signals that can improve positioning accuracy.

[0007] A road milling machine with a position determination system is known from DE 197 56 676 C1. The construction machinery has a rover unit for receiving satellite signals from a Global Navigation Satellite System (GNSS) and correction signals from a reference station, wherein the rover unit is configured to determine position data describing the position of a reference point on the construction machinery in a coordinate system independent of the construction machinery based on the satellite signals and correction signals.

[0008] To transmit digital signals (data) between digital terminals over long transmission paths, known construction machinery typically incorporates mobile radio communication devices. In practice, it has been found that the reception of mobile radio signals on construction sites can also be interfered with. In this regard, the quality of mobile radio signals is also crucial for the automated control of construction machinery. If the correction signal is transmitted via GSM (Global System for Mobile Communications), the mobile radio communication device also allows the reception of DGNSS (Differential GNSS) correction signals.

[0009] Various construction machines are used on construction sites, forming a construction machinery system, and their operation must be considered as a whole. A road milling machine, for example, can be used to remove damaged pavement layers during a previous operation. In subsequent operations that do not necessarily take place on the same day, a road paver can then be used to apply a bonding layer, such as asphalt.

[0010] High-quality GNSS or mobile radio signals are required for the automatic control of construction machinery and the use of mobile radio networks in subsequent GNSS operations.

[0011] If the quality of the GNSS or mobile radio signal is insufficient, appropriate technical precautions must be taken for subsequent operations. For example, a known repeater for amplifying GSM mobile radio signals can be installed at the construction site. However, since no repeater is available for GNSS signals, an alternative system must be used. In this case, a ground positioning system, such as a total station, can be used. Summary of the Invention

[0012] The purpose of this invention is to provide technical means that can simplify the planning of construction projects, improve the operational efficiency of construction machinery as a whole, avoid downtime, and save costs. In particular, the purpose of this invention is to provide construction machinery, and especially road milling machines, recycling machines, soil stabilizers, bulldozers, road rollers, graders, road pavers, slipform pavers, or feeders, that allows for the determination of the quality of GNSS signals or mobile radio signals at a construction site for use in subsequent operations using other construction machinery.

[0013] According to the invention, these objectives are achieved by the features of the independent claims. The dependent claims relate to specific embodiments of the invention.

[0014] The embodiments of the invention described below may include one or more features or combinations of features mentioned below. While the indefinite article should not be construed as an explicit indication of use only once, a feature indicated by the indefinite article may appear multiple times. The use of numbers such as "first" and "second" to indicate features does not preclude these features from appearing more times than the numbers indicated by the numbers. Throughout the description of all embodiments, the expression "may" should also be understood as "preferably" or "conveniently".

[0015] According to the invention, self-propelled construction machinery, particularly road milling machines, recycling machines, soil stabilizers, bulldozers, road rollers, graders, road pavers, slipform pavers, or feeders, has a mechanical frame supported by a traveling mechanism, on which a working device is mounted. This working device can be, for example, a milling drum or a milling / hybrid rotor, and at least one drive unit for driving the traveling mechanism, enabling the construction machinery to perform translational and / or rotational movements in the terrain and to work on the ground or erect structures on the ground, such as driveways. If the working device needs to be driven, for example, by a milling drum, the drive unit can also drive the working device. Furthermore, the construction machinery includes a mobile radio communication device having a mobile radio antenna for transmitting and receiving mobile radio signals and a computing unit for processing the mobile radio signals. The mobile radio communication device is understood to mean any device that can be used to establish a mobile radio connection for transmitting signals (data). Furthermore, the construction machinery includes a GNSS receiver comprising an antenna and a computing unit positioned at a reference point on the machinery. The antenna receives GNSS signals from multiple satellites of the Global Navigation Satellite System, and the computing unit processes the GNSS signals and outputs position data describing the reference point's location. In this application, the GNSS signal is also understood as a correction signal (correction data), which can be used to correct positioning errors in real time. Positioning can occur in a two-dimensional or three-dimensional coordinate system, which can be independent of the construction machinery.

[0016] According to one embodiment of the construction machinery of the present invention, a GNSS evaluation device is provided, which is configured to determine at least one GNSS evaluation variable, i.e., a variable that is a characteristic of the quality of the GNSS signal, such as signal strength, at multiple locations in the terrain during the advance of the construction machinery. The GNSS evaluation variable may also be a variable describing the quality of a correction signal or correction data.

[0017] Furthermore, the construction machinery according to the invention is characterized by a GNSS evaluation variable acquisition device, which is configured to use location data determined by a GNSS receiver at a specific location in the terrain to generate a spatial (georeferenced) GNSS telemetry dataset describing the signal quality at that specific location. The GNSS evaluation variable acquisition device can generate the GNSS telemetry dataset, wherein GNSS signals received by the GNSS receiver and the resulting GNSS evaluation variables are detected, and spatial information (georeferenced) is assigned to the GNSS evaluation variables based on the GNSS signals. The GNSS telemetry dataset may also contain data (time stamps) describing the time (date and time) for evaluating the quality of the GNSS signals, so that the possible time dependence of positioning accuracy can also be considered in further evaluations. The GNSS telemetry dataset may also contain data describing whether the correction data is received from a geostationary satellite or from a ground station. The GNSS evaluation variables included in the GNSS telemetry dataset can also describe the quality of the correction data.

[0018] The GNSS assessment device and / or GNSS assessment variable acquisition device may have a computing unit, which may be a component of the central control and computing unit of the construction machinery. The computing unit of the GNSS assessment device and / or GNSS assessment variable acquisition device may also be a component of the computing unit of the GNSS receiver or another component of the construction machinery.

[0019] The GNSS evaluation variable acquisition device interacts with the mobile radio communication device, enabling space GNSS telemetry datasets to be sent to the cloud storage of Internet service providers.

[0020] The GNSS telemetry dataset generated by the GNSS evaluation variable acquisition device may include unprocessed raw data, which must still be processed for further use with a suitable data processing device. However, the computational unit of the GNSS evaluation variable acquisition device can also be configured to process data from construction machinery.

[0021] Planning for construction projects can be based on GNSS telemetry datasets provided in a cloud storage system, which can be downloaded and evaluated. Therefore, the spatial GNSS telemetry dataset can be used at any time in subsequent work processes, such as in the planning office. Since the GNSS telemetry dataset is available before the start of subsequent work processes, necessary preventative measures can be taken in a timely manner. The GNSS telemetry dataset can also be sent to subsequent construction machinery, i.e., uploaded to and downloaded from the cloud storage system, to enable interventions in mechanical control based on the quality of the GNSS signal. A decisive advantage lies in the fact that the construction machinery according to the invention is used not only for ground operations or for erecting structures on the ground but also for acquiring GNSS telemetry datasets.

[0022] The construction machinery according to the invention can be part of a system for performing ground operations, the system comprising the construction machinery according to the invention, a cloud storage service of an internet service provider (which may also be the manufacturer of the construction machinery), and a data processing device having a mobile radio communication device for establishing a mobile radio connection. The data processing device can be used to read GNSS telemetry datasets from the cloud storage and can process the data in the GNSS telemetry datasets. The data in the GNSS telemetry datasets can be visualized on the screen of the data processing device. The data processing device can be, for example, a computer, a laptop computer, or a mobile radio device. Appropriate software (apps) can be downloaded to these devices.

[0023] The GNSS evaluation variable acquisition device can be configured to continuously acquire at least one GNSS evaluation variable to evaluate the quality of the GNSS signal at a specific location after traveling a predetermined distance or after a predetermined time interval, in order to generate a spatial GNSS telemetry dataset during the movement of construction machinery. In this case, pathpoints located at specific distances to the left and right of the track in the working direction can be assigned the same evaluation variable. Therefore, a path with a predetermined width, such as the path to be operated by the construction machinery (whose width (lane width) is known), can be divided into various regions, each of which is assigned a GNSS evaluation variable. The data can be stored in memory in the form of a table. Each region has a certain width, which may correspond to the track width, and a predetermined length resulting from the predetermined distance or predetermined time interval. Signals can also be detected continuously during the movement of the construction machinery, rather than only at certain locations.

[0024] The GNSS evaluation variable acquisition device is configured to assign colors to the values ​​of at least one GNSS evaluation variable used to evaluate the quality of the GNSS signal at a specific location (thermal mapping), thereby representing the values ​​of at least one GNSS evaluation variable at a specific location as a color-coded region (thermal mapping) in a graphical representation of the area to be processed by construction machinery. Data from the GNSS telemetry dataset can be combined in a known format into an image file, which is then uploaded to cloud storage. Further data processing is then unnecessary. However, image data for visualization can also be generated first using an external data processing device.

[0025] Data acquisition by the operator (planner) can be facilitated by configuring a GNSS evaluation variable acquisition device to evaluate at least one GNSS evaluation variable, considering at least one evaluation criterion, in order to generate a space GNSS telemetry dataset. This at least one GNSS evaluation variable evaluates the quality of the GNSS signal at a specific location. The GNSS evaluation variable acquisition device is configured to determine whether the at least one GNSS evaluation variable meets or does not meet the at least one evaluation criterion at the specific location. Suitable criteria may be, for example, criteria exceeding or falling below limit values. However, more sophisticated signal analysis can also be used to evaluate the evaluation variable.

[0026] A GNSS evaluation device can be configured to determine values ​​related to the signal strength of GNSS signals from satellites of a Global Navigation Satellite System (GNSS) and / or values ​​related to satellite geometry as GNSS evaluation variables for assessing the quality of the GNSS signals. Various evaluation variables are known for assessing signal quality. In addition to the signal strength of individual satellites, evaluation variables can be, for example, DOP (Dilution of Precision) values ​​(H (Horizontal) DOP or V (Vertical) DOP) or GDOP (Geometric Dilution of Precision) values, which are measures of the scattering width depending on measurements of the satellite geometry in the GNSS.

[0027] Another aspect of the invention lies in evaluating the quality of mobile radio signals using construction machinery. This aspect is substantially independent of the aspect of evaluating GNSS signals. However, it is advantageous that the construction machinery allows for the evaluation of both signals.

[0028] An embodiment of the construction machinery according to the present invention includes a mobile radio evaluation device and a mobile radio evaluation variable acquisition device; the mobile radio evaluation device is configured to determine at least one mobile radio evaluation variable at multiple locations in the terrain during the advance of the construction machinery, for evaluating the quality of mobile radio signals at specific locations; the mobile radio evaluation variable acquisition device is configured to generate a space mobile radio telemetry dataset describing the quality of mobile radio signals at the corresponding locations using location data determined by a GNSS receiver at the specific locations in the terrain.

[0029] Mobile radio telemetry datasets can also include data (time stamps) describing the time (date or time) at which the quality of mobile radio signals is evaluated, allowing the potential time dependence of signal quality to be considered during further evaluation.

[0030] The mobile radio evaluation variable acquisition device interacts with the mobile radio communication device, enabling the space mobile radio telemetry dataset to be sent to the cloud storage of the Internet service provider.

[0031] The mobile radio evaluation variable acquisition device can be configured to acquire at least one mobile radio evaluation variable determined by the mobile radio evaluation device after traveling a predetermined distance or after a predetermined time interval in order to generate a spatial mobile radio telemetry dataset during the advance of construction machinery.

[0032] Furthermore, the mobile radio evaluation variable acquisition device may be configured to assign colors to the values ​​of at least one mobile radio evaluation variable that evaluates the quality of mobile radio signals at a corresponding location, so that the values ​​of at least one mobile radio evaluation variable at a specific location are displayed as color-coded areas in a graphical representation of the area to be processed by construction machinery.

[0033] Additionally, the mobile radio evaluation parameter acquisition device may be configured to, in order to generate a space mobile radio telemetry dataset, consider at least one evaluation criterion to evaluate at least one mobile radio evaluation variable for evaluating the quality of mobile radio signals at the corresponding location, wherein the mobile radio evaluation variable acquisition device is configured to determine whether at least one mobile radio evaluation variable meets the at least one evaluation criterion at the corresponding location, or to determine whether the at least one evaluation parameter does not meet the at least one evaluation criterion.

[0034] Values ​​related to the signal strength of mobile radio signals, and / or the uptime of mobile radio signals, and / or the upload and / or download speeds of mobile radio signals can be identified as mobile radio evaluation variables for assessing the quality of mobile radio signals. Values ​​describing signal strength are, for example, known RSSI (Received Signal Strength Index) values. Mobile radio evaluation variables can also describe mobile radio standards, such as LTE, 3G, 5G, etc.

[0035] GNSS evaluation variables and mobile radio evaluation variables can also describe a state where no GNSS or mobile radio signals are received at all. If the GNSS evaluation variable or mobile radio evaluation variable is signal strength, then this state can be inferred if the signal strength equals 0. Therefore, a specific telemetry dataset also describes this state.

[0036] In the event of a complete mobile radio reception failure across the entire construction site, GNSS or mobile radio telemetry datasets cannot be uploaded to cloud storage. However, if the telemetry datasets are unavailable in the cloud, at least the overall failure can be inferred. Otherwise, the corresponding telemetry data records can be uploaded to cloud storage when mobile radio reception is uninterrupted.

[0037] In the event of an interruption in GNSS signal reception during the movement of construction machinery, a GNSS telemetry dataset or mobile radio telemetry dataset containing spatial data of the relevant road segment cannot be generated because georeferencing is not possible in that segment. However, the telemetry dataset or mobile radio telemetry dataset includes information at waypoints where GNSS signals are no longer received during the movement of the construction machinery (i.e., signal strength is 0), and information at waypoints where GNSS signals are received again (i.e., signal strength is greater than 0 again). For example, if mobile radio signals are received but GNSS signals are not, waypoints for evaluating the mobile radio signals can be determined based on additional information (data) and / or additional systems, allowing georeferencing to still be performed. For example, the known locations where signal reception failed or restarted can be considered to approximate the position of the construction machinery. The GNSS evaluation variable acquisition device can also interact, for example, with an inertial navigation system (INS) having an inertial measurement unit (IMU) with several acceleration and rotation rate sensors to continuously determine the spatial motion of the construction machinery and thereby determine its corresponding position. Attached Figure Description

[0038] In the following, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0039] It is shown that:

[0040] Figure 1This is a side view of an exemplary embodiment of the construction machinery according to the present invention; Figure 2 It is a highly simplified diagram of construction machinery; Figure 3A Construction machinery used in the first operational step when working on the ground; Figure 3B Construction machinery used for ground operations during the second phase of the work process; Figure 4 It is a table containing data from a space GNSS telemetry dataset; and Figure 5 It is a visualization of the GNSS telemetry dataset on the screen of the data processing device. Detailed Implementation

[0041] Figure 1 A side view of a road milling machine is shown as an example of a self-propelled construction machine 1.

[0042] Construction machinery 1 has a mechanical frame 2 supported by a chassis 3. The chassis 3 has two steerable rear traveling mechanisms 4A and two steerable front traveling mechanisms 4B, which are fastened to rear lifting columns 5A and front lifting columns 5B, respectively. Construction machinery 1 can perform translational and / or rotational movements on the terrain. Construction machinery 1 has a working device 6 for working on the ground. In this exemplary embodiment, the working device is a milling drum equipped with milling tools. Only... Figure 1 The drive unit 7, shown in outline, is configured to drive the traveling mechanisms 4A and 4B and the working device 6. The working direction (traveling direction) of the construction machinery 1 is indicated by arrow A.

[0043] Figure 2 yes Figure 1 A highly simplified schematic diagram of construction machinery 1. Corresponding components are labeled with the same reference numerals.

[0044] In this embodiment, the construction machinery 1 has automatic control using a Global Navigation Satellite System (GNSS). This control is prior art. A control device 8, used to control the drive unit 7 of the construction machinery 1, controls the walking mechanisms 4A and 4B, causing the reference point R of the construction machinery to move along a specific path W, i.e., along the path or at a distance (equidistant) from the path. The reference point R can be any point on the construction machinery. The control device 8 is configured to control the steerable walking mechanisms 4A and 4B such that the distance d between the desired position Psoll, described by the target distance, and the actual position Pist of the reference point R is minimized. Figure 2A magnified view shows the deviation d between the actual position Pist and the target position Psoll on the right side of the image. The reference point R of the construction machinery 1 on the left side of the image is located at the target distance W. The target distance W can, for example, describe the route of a road.

[0045] The actual position Pist of reference point R is determined using GNSS with a GNSS receiver 9. The GNSS receiver 9 has an antenna 9A and a computing unit 9B arranged at reference point R. The antenna 9A is used to receive GNSS signals from multiple satellites 10 of the Global Navigation Satellite System (GNSS), and the computing unit 9B is used to process the GNSS signals and output position data describing the position of the reference point in a coordinate system (x, y, z) independent of the construction machinery. This type of GNSS receiver is prior art. The GNSS signals received by the GNSS receiver may also include correction signals for improving positioning accuracy (DGNSS).

[0046] To establish a mobile radio connection to the mobile radio unit 11 of the mobile radio provider, the construction machinery 1 includes a mobile radio communication device 12, which has a mobile communication antenna 12A for transmitting and receiving mobile radio signals and a computing unit 12B for processing the mobile radio signals. This mobile radio communication device is also prior art. When correction signals are available via GSM, correction signals used to improve positioning accuracy can also be received by the mobile radio communication device, and these correction signals will be used.

[0047] Furthermore, the construction machinery 1 includes a GNSS evaluation device 13 and a GNSS evaluation variable acquisition device 14, and / or a mobile radio evaluation device 15 and a mobile radio evaluation variable acquisition device 16, each of which may have separate computing units 13A, 14A, 15A, and 16A for processing data. The GNSS evaluation device and the GNSS evaluation variable acquisition device, or the mobile radio evaluation device and the mobile radio evaluation variable acquisition device, may also have a common computing unit. The computing unit may also be a component of a central computing and control unit for controlling the operation of the construction machinery. The hardware components may include, for example, a general-purpose processor, a digital signal processor (DSP) for continuously processing digital signals, a microprocessor, an application-specific integrated circuit (ASIC), an integrated circuit composed of logic elements (FPGA), or other integrated circuits (ICs) to perform the computational operations described below. Data processing programs (software) may run on the hardware components to perform the various method steps.

[0048] The following is for reference. Figure 3A and Figure 3B as well as Figure 4 Describe the functions of the GNSS evaluation device 13 and the GNSS evaluation variable acquisition device 14.

[0049] Figure 3A and Figure 3B A road 17, having a left lane 17B and a right lane 17A, is shown to be worked on by construction machinery 1. In this exemplary embodiment, the damaged road 17 is first milled using construction machinery 1. Asphalt is then laid using a road paver.

[0050] In the first operation, construction machinery 1 handles right lane 17A ( Figure 3A ), and in the second operation, left lane 17B was handled ( Figure 3B ).exist Figure 3A and Figure 3B In the diagram, the operating direction of construction machinery 1 is indicated by A, and the reference point of the construction machinery where the antenna 9A of GNSS receiver 9 is located is indicated by R. While construction machinery 1 is moving in the operating direction A, GNSS receiver 9 generates position data on the right half of road 17 at at least waypoints P1.1, P1.2, P1.3, and P1.4, and position data on the left half of road 17 at waypoints P2.1, P2.2, P2.3, and P2.4.

[0051] The GNSS evaluation device 13 is configured to determine at least one GNSS evaluation variable B at multiple locations in the terrain during the advance of the construction machinery 1, for evaluating the quality of the GNSS signal at a specific location. In this exemplary embodiment, as the construction machinery 1 advances, the GNSS signal is evaluated at waypoints P1.1, P1.2, P1.3, and P1.4 on the right half of the road 17 and at waypoints P2.1, P2.2, P2.3, and P2.4 on the left half of the road 17. Data acquisition is performed after a predetermined distance a has been covered or after a predetermined time interval Δt has elapsed. Therefore, the roadway can be divided into a series of areas or fields F1.1, F1.2, F1.3, F1.4 and F2.1, F2.2, F2.3, F2.4 for data acquisition. In this exemplary embodiment, these areas each have the same size because the distance a or time interval Δt does not change during the uniform advance of the machinery; however, these areas may also have different sizes, or data acquisition may be performed continuously.

[0052] In this exemplary embodiment, evaluation variable B is determined from the signal strength of the GNSS signal, such as the average signal strength of the received GNSS signal, which also includes correction signals suitable for each region F1.1, F1.2, F1.3, F1.4 and F2.1, F2.2, F2.3, F2.4. The evaluation variables are stored in memory in the form of a table.

[0053] However, signal strength is only understood as an example of evaluation variable B. The evaluation variable can be any variable that determines positioning accuracy in DGNSS. This variable can also be a variable characteristic that corrects for signal quality. This exemplary embodiment only describes determining one evaluation variable in each case. However, several evaluation variables can also be determined. Individual evaluation variables can also be determined from several evaluation parameters.

[0054] The GNSS evaluation variable acquisition device 14 is configured to generate a spatial GNSS telemetry dataset describing the quality of the GNSS signal at a specific location (waypoint) on the terrain using location data determined by the GNSS receiver 9 at that location.

[0055] The GNSS evaluation variable acquisition device 14 is configured to distribute the position data determined by the GNSS receiver 9 to each waypoint P1.1, P1.2, P1.3, P1.4 and P2.1, P2.2, P2.3, P2.4.

[0056] Figure 4 A table is shown, storing evaluation variables B(P1.1), B(P1.2), B(P1.3), B(P1.4) or B(P2.1), B(P2.2), B(P2.3), B(P1.4) determined at waypoints P1.1, P1.2, P1.3, P1.4 on the right half of road 17 and waypoints P2.1, P2.2, P2.3, P2.4 on the left half of road 17, where the coordinates x, y, z (position data) are associated with waypoints P1.1, P1.2, P1.3, P1.4 and P2.1, P2.2, P2.3, P2.4 in a coordinate system independent of construction machinery 1. In this exemplary embodiment, these data form a GNSS telemetry dataset stored in memory.

[0057] Furthermore, the GNSS evaluation variable acquisition device 14 may be configured to evaluate at least one GNSS evaluation variable for assessing the quality of GNSS signals at a specific location, considering at least one evaluation criterion, in order to generate a space GNSS telemetry dataset. In this exemplary embodiment, the average signal strength of the GNSS signals received at a specific waypoint is compared with a predefined limit value to determine whether the GNSS evaluation variable at each waypoint meets the evaluation criterion, i.e., whether the average signal strength is greater than the limit value. If the average signal strength is greater than the limit value, it is assumed that no further precautions are needed for subsequent asphalt paving with a road paver. However, if the average signal strength is less than the limit value, appropriate precautions must be taken. In this exemplary embodiment, the GNSS telemetry dataset includes data indicating whether the average signal strength is greater than the limit value, which is indicated in a table by the symbol O (greater than the limit value) or X (less than or equal to the limit value).

[0058] The GNSS evaluation variable acquisition device 14 interacts with the mobile radio communication device 12, enabling the space GNSS telemetry dataset to be sent to the cloud storage 18 of the Internet service provider. Therefore, the GNSS telemetry dataset is available for further processing at any time.

[0059] Construction machinery 1, cloud storage 18, and data processing unit 19 form a system for performing ground operations. The data processing unit 19 includes a mobile radio communication device 19A for establishing mobile radio connections. The system allows for the evaluation of GNSS signals. Mobile radio telemetry datasets can be read from the cloud storage 18 using the data processing unit 19 and processed for further evaluation and visualization.

[0060] In this exemplary embodiment, the GNSS evaluation variable acquisition device 14 is further configured to assign the values ​​of at least one GNSS evaluation variable B(P1.1), B(P1.2), B(P1.3), B(P1.4) or B(P2.1), B(P2.2), B(P2.3), B(P2.4) for evaluating the quality of the GNSS signal at the corresponding location to areas F1.1, F1.2, F1.3, F1.4 and F2.1, F2.2, F2.3, F2.4, so that the values ​​of at least one GNSS evaluation variable at the corresponding location are displayed as color-coded areas or fields or areas or fields encoded by different shades in the graphical representation of the area (road) to be operated by the construction machinery 1. The GNSS evaluation variable acquisition device 14 can generate an image file containing corresponding image data, wherein the image file is uploaded to the cloud storage 18. Then, the image file can be downloaded from the cloud storage 18 by the data processing device 19, opened and displayed on the screen 19B of the data processing device 19.

[0061] Figure 5 The figure shows a graphical representation of the road to be processed in the (x, y, z) coordinate system, where a reference is marked in road 17. Figure 3A and Figure 3B The described regions or fields F1.1, F1.2, F1.3, F1.4 and F2.1, F2.2, F2.3, F2.4 illustrate the quality of the GNSS signal. In this exemplary embodiment, regions F1.1, F1.2, F1.3, F1.4 and F2.1, F2.2, F2.3, F2.4 where the signal quality is sufficient are marked with the symbol O, while regions F1.1, F1.2, F1.3, F1.4 and F2.1, F2.2, F2.3, F2.4 where the signal quality is insufficient are represented by shaded lines. The intensity of the shade is characterized by the density of the shaded lines, where the density of the shaded lines signifies a strong shade.

[0062] Construction equipment 1 allows for the evaluation of not only the quality of GNSS signals but also the quality of mobile radio signals received by mobile radio communication device 19. The mobile radio evaluation device 15 and mobile radio evaluation variable acquisition device 16 differ from GNSS evaluation device 13 and GNSS evaluation variable acquisition device 14 in that they evaluate mobile radio signals rather than GNSS signals from multiple satellites 10. Therefore, other evaluation variables or evaluation criteria are defined. In this exemplary embodiment, the mobile radio evaluation device 15 is configured such that values ​​related to the signal strength of the mobile radio signal, and / or values ​​related to the uptime of the mobile radio signal, and / or values ​​related to the upload rate and / or download rate of the mobile radio signal are determined as mobile radio evaluation variables for evaluating the quality of the mobile radio signal. For example, the RSSI (Received Signal Strength Indicator) value of the mobile radio signal can be compared with predetermined limit values ​​sufficient for a suitable mobile radio connection. Visualization can be performed in the same manner as with GNSS signals. Areas F1.1, F1.2, F1.3, F1.4 and F2.1, F2.2, F2.3, F2.4 of Road 17 (where the signal strength of mobile radio signals is above or below the limit value) may be connected with... Figure 5 The plan view shown is represented in the corresponding plan view.

[0063] The mobile radio evaluation device 15 and the mobile radio evaluation variable acquisition device 16 have similar structures and similar operating modes in other respects, thus referring to the description of the GNSS evaluation device 13 and the GNSS evaluation variable acquisition device 14.

[0064] The GNSS receiver 9 and the mobile radio communication device 12 can also interact as follows.

[0065] If a correction signal is received from the mobile radio communication device 12 to improve positioning accuracy, the mobile radio evaluation device 15 can also determine evaluation variables to evaluate the quality of the correction signal.

[0066] When performing positioning based on the processing of correction signals contained in the GNSS signal and received by the GNSS receiver, and if it is determined that the quality of the correction signals to be processed by the GNSS receiver is insufficient, the calculation unit 9B of the GNSS receiver 9 can be configured to perform positioning based on the correction signals received from the mobile radio communication device 12, rather than on the correction signals received from the GNSS receiver. In this case, it can also be checked whether these correction signals have sufficient quality. Similarly, the GNSS receiver 9 can also be configured to perform positioning based on the correction signals received by the GNSS receiver if insufficient quality of the correction signals received by the mobile radio communication device 12 is detected.

Claims

1. A self-propelled construction machine for performing ground work or erecting structures on the ground during a previous operation, and for performing another operation using another construction machine after the previous operation, wherein the construction machine (1) includes: The mechanical frame (2) is supported by the walking mechanism (4A, 4B), and the working device (6) is provided on the mechanical frame (2). At least one drive device (7) is used to drive the walking mechanism (4A, 4B). A mobile radio communication device (12) having a mobile radio antenna (12A) for transmitting and receiving mobile radio signals and a computing unit (12B) for processing mobile radio signals. A GNSS receiver (9) includes an antenna (9A) and a computing unit (9B) arranged at a reference point (R) of the construction machinery. The antenna (9A) is used to receive GNSS signals from multiple satellites of the Global Navigation Satellite System, and the computing unit (9B) is used to process the GNSS signals and output position data describing the position of the reference point (R). Its features are: Construction machinery (1) also includes: GNSS evaluation device (13), configured to determine at least one GNSS evaluation variable (B) at multiple locations in the terrain during the advance of construction machinery, for evaluating the quality of the GNSS signal at a specific location; and A GNSS evaluation variable acquisition device (14) is configured to use location data determined by the GNSS receiver (9) at a specific location in the terrain to generate a spatial GNSS telemetry dataset describing the signal quality at that specific location; wherein The GNSS evaluation variable acquisition device (14) interacts with the mobile radio communication device (12) to send the space GNSS telemetry dataset to the cloud storage (18). and / or A mobile radio evaluation device (15) is configured to determine at least one mobile radio evaluation variable (B) at multiple locations in the terrain during the advance of construction machinery to evaluate the quality of mobile radio signals at a particular location. A mobile radio evaluation variable acquisition device (16) is configured to generate a spatial mobile radio dataset describing the quality of mobile radio signals at a specific location using location data determined by a GNSS receiver (9) at a specific location in the terrain; wherein The mobile radio evaluation variable acquisition device (16) interacts with the mobile radio communication device (12) to send the space mobile radio telemetry set to the cloud storage (18).

2. The self-propelled construction machinery according to claim 1, characterized in that, The GNSS evaluation variable acquisition device (14) is configured to acquire at least one GNSS evaluation variable for evaluating the quality of the GNSS signal at a specific location after traveling a predetermined distance (a) or after a predetermined time interval (Δt) in order to generate the spatial GNSS telemetry dataset during the advance of the construction machinery.

3. The self-propelled construction machinery according to claim 1 or 2, characterized in that, The GNSS evaluation variable acquisition device (14) is configured such that a color is assigned to the value of the at least one GNSS evaluation variable (B) that evaluates the quality of the GNSS signal at the corresponding location, so that the value of the at least one GNSS evaluation variable at the corresponding location is displayed as a color-coded area (F) in a graphic representation of the area to be processed by construction machinery.

4. The self-propelled construction machinery according to claim 1 or 2, characterized in that, The GNSS evaluation variable acquisition device (14) is configured to, in order to generate the space GNSS telemetry dataset, consider at least one evaluation criterion to evaluate at least one GNSS evaluation variable (B) for evaluating the quality of GNSS signals at a specific location, wherein the GNSS evaluation variable acquisition device (14) is configured to determine whether the at least one GNSS evaluation variable meets the at least one evaluation criterion at the specific location, or to determine whether the at least one GNSS evaluation variable does not meet the at least one evaluation criterion.

5. The self-propelled construction machinery according to claim 1 or 2, characterized in that, The GNSS evaluation device (13) is configured to determine values ​​related to the signal strength of the GNSS signal of the satellite of the Global Navigation Satellite System and / or values ​​related to the satellite geometry as GNSS evaluation variables (B) for evaluating the quality of the GNSS signal.

6. The self-propelled construction machinery according to claim 1, characterized in that, The mobile radio evaluation variable acquisition device (16) is configured to acquire at least one mobile radio evaluation variable determined by the mobile radio evaluation device (15) after traveling a predetermined distance (a) or after a predetermined time interval (Δt) in order to generate the spatial mobile radio telemetry dataset during the advance of the construction machinery.

7. The self-propelled construction machinery according to claim 1 or 6, characterized in that, The mobile radio evaluation variable acquisition device (16) is configured to assign colors to the values ​​of at least one mobile radio evaluation variable (B) that evaluates the quality of the mobile radio signal at the corresponding location, so that the values ​​of at least one mobile radio evaluation variable at the corresponding location are displayed as color-coded areas in the graphical representation of the area (F) to be processed by construction machinery.

8. The self-propelled construction machinery according to claim 1 or 6, characterized in that, The mobile radio evaluation variable acquisition device (16) is configured to, in order to generate a spatial mobile radio telemetry set, consider at least one evaluation criterion to evaluate at least one mobile radio value (B) for evaluating the quality of mobile radio signals at a specific location, wherein the mobile radio evaluation variable acquisition device (16) is configured to determine whether the at least one mobile radio evaluation variable meets the at least one evaluation criterion at the specific location, or to determine whether the at least one evaluation variable does not meet the at least one evaluation criterion.

9. The self-propelled construction machinery according to claim 1 or 6, characterized in that, The mobile radio evaluation acquisition device (16) is configured to determine the values ​​related to the signal strength of the mobile radio signal, and / or the running time of the mobile radio signal, and / or the upload rate and / or download rate of the mobile radio signal as mobile radio evaluation variables (B) for evaluating the quality of the mobile radio signal.

10. The self-propelled construction machinery according to claim 1, characterized in that, The self-propelled construction machinery is a road milling machine or a road paver.

11. A method for performing ground work or erecting structures on the ground using a self-propelled construction machine according to any one of claims 1-10 during a previous operation, and for performing another operation using another construction machine after the previous operation, wherein the construction machine has a mobile radio communication device for establishing a mobile radio connection and a GNSS receiver for determining location data describing the location of a reference point of the construction machine. Its features are: During the advance of construction machinery, at multiple locations in the terrain, at least one GNSS evaluation variable is determined, which evaluates the quality of the GNSS signal received by a GNSS receiver at a specific location; Using location data from GNSS receivers, a spatial GNSS telemetry dataset is generated, which describes the quality of GNSS signals at specific locations in the terrain. in The space GNSS telemetry dataset is sent to a cloud storage device by a mobile radio communication device; And / or, During the advance of construction machinery, at multiple locations in the terrain, at least one mobile radio evaluation variable is determined, which evaluates the quality of mobile radio signals received by mobile radio communication devices at specific locations. Using location data from GNSS receivers, a spatial mobile radio telemetry dataset is generated, which describes the quality of mobile radio signals at specific locations in the terrain; in The space mobile radio telemetry dataset is sent to the cloud storage by the mobile radio communication device.

12. The method according to claim 11, characterized in that, Values ​​related to the signal strength of GNSS signals from satellites of the Global Navigation Satellite System and / or values ​​related to satellite geometry are identified as GNSS evaluation variables for assessing the quality of GNSS signals.

13. The method according to claim 11, characterized in that, Values ​​related to the signal strength of mobile radio signals, and / or values ​​related to the uptime of mobile radio signals, and / or values ​​related to the upload rate and / or download rate of mobile radio signals are identified as evaluation variables for assessing the quality of mobile radio signals.

14. The method according to any one of claims 11 to 13, characterized in that, The data processing device is equipped with a mobile radio communication device for establishing a mobile radio connection, and uses the data processing device to read GNSS telemetry datasets or mobile radio telemetry datasets from a cloud storage, and uses the data processing device to process the data of the GNSS telemetry datasets or mobile radio telemetry datasets.

15. The method according to claim 14, characterized in that, Data from GNSS telemetry datasets or mobile radio telemetry datasets processed by the data processing device are visualized on the screen of the data processing device.

16. The method according to claim 11, characterized in that, The self-propelled construction machinery is a road milling machine or a road paver.

17. A system comprising a self-propelled construction machine (1) according to any one of claims 1 to 10 and a cloud storage device (18), the self-propelled construction machine (1) being used to perform work on the ground or to erect a structure on the ground during a previous work process, and to perform another work process using another construction machine after the previous work process.

18. The system according to claim 17, characterized in that, The system also includes a data processing device (19) having a mobile radio communication device (19A) for establishing a mobile radio connection, configured to read a GNSS telemetry dataset or a mobile radio telemetry dataset from a cloud storage (18), and the data of the GNSS telemetry dataset or the mobile radio telemetry dataset is processed to be visualized on the screen (19b) of the data processing device (19).

19. The system according to claim 17, characterized in that, The self-propelled construction machinery mentioned is a road milling machine.

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