Sensor system

Abstract

A sensor system is disclosed. A sensor system for a construction machine (50), in particular a road construction machine (50) or a laying machine, comprises: an optical detector (10) arrangeable on the construction machine (50) and configured to scan the underground at a predetermined angle to obtain measurement data describing one or more intensity values (15s) and / or one or more distance values (15a) drawn within the predetermined angle; and a processor (20) configured to analyze the measurement data in order to determine a pattern of intensity values (15s) and / or distance values (15a) from a predetermined pattern of the one or more predetermined patterns.

Description

Technical Field

[0001] Embodiments of the invention relate to a sensor system, in particular a sensor system for a construction machine, in particular a road construction machine or a paving machine. Embodiments relate to corresponding methods and computer programs. Another embodiment relates to a construction machine comprising a sensor system.

[0002] Generally, embodiments of the invention are in the field of surveying devices, in particular LiDAR or laser surveying devices. Background Art

[0003] In construction machines, LiDAR / laser sensors are used to detect and track a reference along which the paver (paving machine / road finisher) itself or equipment of the paver (such as a screed) can be controlled. For example, the lateral dynamics of the paver can be controlled by using a reference extending in the direction of travel. For example, a rope or a stone curb extending in the direction of travel can be used as a reference. The road finisher driver makes steering corrections (manually or autonomously / semi-autonomously) based on the specific reference so that the road finisher travels as parallel as possible at the same distance to the reference. Automation of the entire steering process (tractor and board / screed) will significantly reduce the operating workload of the road finisher during asphalt paving. An exemplary method is described in WO 2020 / 088782 A1. Summary of the invention

[0004] The object of the invention is to further develop a sensor system.

[0005] This object is achieved by the subject-matter of the independent claims.

[0006] Embodiments of the present invention provide a sensor system for a construction machine, such as a road construction machine or a paving machine. The sensor system includes an optical detector that can be arranged on the construction machine and a processor. The detector is configured to scan the ground at a predetermined angle to obtain measurement data describing one or more intensity values ​​and / or one or more distance values ​​mapped within a predetermined angle range. The processor is configured to analyze the measurement data to determine a pattern of intensity values ​​and / or distance values ​​according to a predetermined pattern in one or more predetermined patterns.

[0007] For example, the pattern to be determined may be a milling edge pattern. This means that one or more predetermined patterns include a milling edge pattern, which is characterized by a connection between two platforms. This connection may be substantially vertical or may have an inclination angle in the range of 70° to 90° or 70° to 100°, or generally greater than 70° or preferably greater than 80°.

[0008] According to a further embodiment, a paving edge pattern may be determined. This means that, according to an embodiment, the one or more predetermined patterns comprise a paving edge pattern, characterized in that there is a connection between two platforms, wherein the inclination angle of the connection is less than 70°.

[0009] According to a further embodiment, the pattern may be a curb stone edge pattern. Thus, according to an embodiment, the one or more predetermined patterns include a curb stone edge pattern characterized by having a connection between two platforms or having a substantially vertical connection therebetween, wherein one edge includes a rounded corner and / or wherein the spacing between the two edges is greater than 5 cm or 10 cm.

[0010] According to further embodiments, there are patterns for other types of edges, which are known and stored as predetermined patterns.For example, the above predetermined patterns may be stored in a database that is part of the sensor system or connected to a processor of the sensor system.

[0011] According to an embodiment, the optical detector is configured to scan the underground to be laid or laid across the direction of travel of the construction machine and / or at an angle arranged at 45° to 90° relative to the direction of travel of the construction machine. According to an embodiment, the optical detector is configured to scan the underground to be re-laid or laid along a direction intersecting the direction of travel of the construction machine and / or along multiple positions along the direction of travel of the construction machine. For example, the optical detector is arranged on the side of the road paver so that it can scan the side area of ​​the construction machine. When the construction machine travels along the direction of travel, the scanner performs a scan, wherein the scanning is performed along the direction of travel due to the movement along the direction of travel, and the scanner is configured to scan the side at a predetermined angle. The predetermined angle is predetermined by the optical sensor. In the case where the scanning plane is arranged to be perpendicular to the direction of travel or intersecting with the direction of travel, scanning can be performed across the direction of travel.

[0012] According to an embodiment, the optical detector comprises a LiDAR sensor and / or a laser scanner.

[0013] According to an embodiment, the controller is configured to set and / or determine a control point related to the pattern or a curb within the pattern, or a control point related to the spacing of the user terminal from a curb within the pattern.

[0014] According to an embodiment, the processor is configured to determine a pattern within a plurality of measurement data (sets) to be determined along the direction of travel and / or during a plurality of subsequent time points. Alternatively or additionally, the processor is configured to track a control point determined within the pattern along the direction of travel and / or along a plurality of measurement values ​​determined in a plurality of subsequent time points.

[0015] According to an embodiment, the processor is configured to perform the predetermination of the one or more patterns during a teaching phase and / or during a training phase and / or during a training phase performed using artificial intelligence.

[0016] According to an embodiment, the processor is configured to automatically determine a control point and / or a relationship or lateral spacing to a control point or a control point and the construction machine in order to output information about the spacing or lateral spacing to the control point of the construction machine.

[0017] Another embodiment provides a construction machine, in particular a road construction machine or a paving machine, comprising a sensor system according to an embodiment of the invention.

[0018] According to a further embodiment, the construction machine may comprise a controller for performing autonomous and / or semi-autonomous and / or automatic control based on measurement data provided by the sensor system.

[0019] Another embodiment provides a method for performing curb detection. The method comprises the following steps:

[0020] scanning the subsurface at a predetermined angle to obtain measurement data describing one or more intensity values ​​and / or one or more distance values ​​mapped within the predetermined angle;

[0021] The measurement data is analyzed to determine a pattern of intensity values ​​and / or distance values ​​according to a predetermined pattern of the one or more predetermined patterns.

[0022] Of course, the method may be computer-implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In the following, embodiments of the present invention will be discussed with reference to the accompanying drawings, in which:

[0024] Figure 1 schematically illustrates a measurement system according to an embodiment;

[0025] Figure 2a-2e Schematically illustrates different patterns of edges to be determined according to embodiments;

[0026] Figure 3 schematically illustrates a position where a laser scanner is attached to a road construction machine according to an embodiment; and

[0027] Figure 4a-4e Different measurement situations and the respective measurement results are schematically shown to illustrate the embodiments. DETAILED DESCRIPTION

[0028] The embodiments of the present invention will be discussed below in conjunction with the accompanying drawings, wherein objects having the same or similar functions are provided with the same reference numerals so that their descriptions are mutually applicable and accessible.

[0029] Figure 1 An optical detector module 10 similar to a laser scanner and a processor 20 are shown. The optical detector 10 may be arranged on a construction machine, such as by Figure 3 A road construction machine or paving machine 50 is shown. An optical detector 10 is configured to scan an underground 12 including an edge 12k. The underground 12 is scanned within a predetermined range 10a to obtain measurement data. The measurement data includes information about the measured distance between the scanner 10 and the underground 12 drawn within an angle of a predetermined scanning angle 10a. Additionally or alternatively, intensity values ​​can be obtained. Here, the edge 12k triggers discontinuities in distance values ​​and / or intensity values. The height and / or flag angle of the edge 12k depends on the type of curb. Vice versa, this means that different curbs 12k on or within the underground 12 will trigger different patterns in the measurement data. Such patterns can be predetermined so that the measurement data can be compared with one or more predetermined patterns to characterize the respective curbs.

[0030] about Figure 2a to Figure 2e , we will discuss the Figure 1 Five different predetermined patterns determined by the sensor system. Figure 2a to Figure 2e Different edge shapes are shown.

[0031] Figure 2a and Figure 2b Two different milled edges are shown, where the angle is 70° (see Figure 2b ) and 90° (see Figure 2a ). Figure 2a and Figure 2b The scan of two milled edges will result in a pattern with two terraces with a vertical or steep slope between them. The slope angle can be 70°. This means that the angle between the terrace and the connection is 90° to 110°. When scanning such an edge, the distance and intensity values ​​will indicate the shape. Figure 2a and Figure 2b The platform transition in includes a jump.

[0032] Figure 2c and Figure 2d Two different edges, i.e. laying edges, are shown with a slope below 70°. The angle between the two platforms and the connecting line is therefore greater than 110°. For this reason, the pattern comprises a "continuous" transition from one platform to the next. The transition / slope depends on the shape of the sent elements of the screed.

[0033] exist Figure 2c to Figure 2d , the scanning direction is shown in the case where the optical scanner is arranged above. When the scanner has a poor view of the edge to be determined, the slope can be detected by using distance values ​​and / or intensity values. The distance values ​​and the intensity values ​​have a specific pattern, which can be predetermined and compared later. If the edge view has a digital component, the pattern is different. However, for optical sensors arranged in a diagonal view, these features are the same and can also be predetermined.

[0034] Figure 2e Another edge is shown, the so-called kerb edge. Here, two platforms are also arranged with a connection between them, with Figure 2a , Figure 2b , Figure 2c and / or Figure 2d Compared to the connection of the edge of the 200A, the connection is significantly larger. In addition, the edge may have a rounded corner at the top landing.

[0035] According to an embodiment, the processor 20 includes a database having one or more predetermined patterns stored thereon, and is configured to analyze measurement data detected using the sensor 10 by comparing the measurement data / pattern of distance values / intensity values ​​within the measurement data with the predetermined pattern in order to find out whether the determined pattern corresponds to a previously stored pattern.

[0036] about Figure 3 , potential locations of the optical sensor 10 on the paving machine 50 will be discussed. The paving machine is configured to provide a paving surface on the underground 12 by using a screed plate 52. The underground 12 may include an edge 12k, which can be determined by the optical sensor 10. The optical sensor 10 scans the underground 12 within a predetermined angle 10a to determine the edge 12k and the type of edge. To this end, the optical detector 10 is arranged, for example, on the side of the screed plate 52 or the side edge of the screed plate 52, and is focused on the underground 12. Here, the measuring angle is about 100° relative to the direction of travel. In addition, the predetermined angle α of the sensor 10 in the present embodiment is not arranged as a bird's-eye view perpendicular to the ground, but is slightly inclined, for example, 45° or even 60° relative to the ground.

[0037] about Figure 4a and Figure 4b , the characteristic pattern of a conventional milled edge 12k determined using the optical detector 10 will be discussed.

[0038] Figure 4a The pattern recognition of the milling edge 54k by the laser scanner 10 is shown from the side. For example, the laser scanner 10 scans again a scanning range of 15° to 45° or 15° to 30°.

[0039] The milling edge 54k also provides a special pattern that can be used to unambiguously determine the distance to the milling edge 54k. Figure 4b , so that the pattern of milling edges can be detected between consecutive equal measurement values ​​with relatively high signal amplitudes. Figure 4b The waveforms of the signal intensity 15s and the measured distance 15a shown, the special pattern recognition of the waveform becomes clear. A corresponding detection or evaluation algorithm detects a slightly excessive signal intensity 15sp in the scanning range 17, which indicates the measured angle of the milling edge 54h. Additionally or alternatively, the evaluation algorithm can also detect approximately equal distance values ​​15a in this scanning range 17. Therefore, in this respect, the pattern recognition of the milling edge from the side includes the detection of lateral excess in the case of signal intensity (see reference numeral 15s) and / or the detection of a platform 15ap in the case of the distance measurement value 15a, wherein 15sp and 15ap appear essentially in the same measuring range / angle range 17. The platform 15ap also simultaneously indicates the measured distance to the milling edge to be evaluated.

[0040] Figure 4c The same edge 54k is shown, but from a different perspective, i.e. the optical detector 10 is not as good as Figure 4a and Figure 3 The viewing angle is shown tilted relative to the ground, but is oriented perpendicular to the ground.

[0041] Reference Figure 4c , explaining the pattern recognition of the milling edge 54k from above. For this purpose, the laser scanner 10 is arranged above the milling edge 54k. The waveform obtained is as follows Figure 4d As shown. Figure 4d As can be seen, the evaluation of the milling edge 54k from above results in a relatively large scanning angle (e.g. 30° to 50°) of the measured values ​​of the signal intensity 15s and the measured distance 15a with a high signal amplitude. In the signal intensity 15s, at the location of the milling edge, there is a measured value jump 15as from h1 to h2. This jump provides the exact position of the milling edge relative to the measuring angle (here: α=0°). In addition to the distance value, the scanning angle at which the height jump from h1 to h2 occurs is also decisive. Here, the distance measurement is only used to detect the change in distance between h1 and h2. Assuming the angle α=0° or any angle within the measuring range as a reference value, in this application it is not the distance that must be kept constant, but the scanning angle at which the height jump occurs. According to an alternative, the scanning angle can also be converted into a distance value (lateral or vertical distance), such as from Figure 4d and Figure 4e can be seen in. Figure 4e In the Figure 4c, however, in which the scanner 10 is not arranged vertically above the milling edge 54k, but is laterally offset relative to the milling edge. Therefore, an angle α (angle of jump) is established. Based on the formula a=tan(α)·h, a is equal to the distance and h is equal to the height (see Figure 4d ), the lateral distance can be determined.

[0042] From Figure 4d The signal pattern is relevant for calculating the distance to the reference. If the laser scanner 10 is perpendicular above the milling edge 54k, a zero reference is defined here, i.e. the measuring angle has a value of α=0° at this position. If the laser scanner 10 is not perpendicular to the reference (here, the milling edge 54k is offset to the upper right side), the measuring angle α changes relative to the zero reference. The measured distance to the reference can therefore be calculated in the same way as the tangent value, so that the distance value a determined in this way in the X direction (lateral direction) represents the distance to the zero reference. When determining the zero reference in the laser scanner, the laser scanner 10 should be mounted during setup so that the distance value a is as close to zero as possible.

[0043] Figure 4e Another perspective is shown where the sensor 10 may be tilted relative to the edge 54k.

[0044] The above discussion has shown that the pattern of height values ​​and / or intensity values ​​may vary depending on the angle formed between the edge to be detected and the detector.

[0045] As mentioned above, the entity 20 is configured to detect the type of edge by using the measurement data / LiDAR measurement data. Based on this data, the geometry of the edge can be calculated, wherein the geometry is generally directly assigned to the edge type, such as kerb edge, paved edge or milled edge.

[0046] According to a further embodiment, the quality of the edge that has been formed can be determined. Since the measurement is performed during a subsequent time point during the travel of the construction machine in the travel direction, different positions of the edge are scanned. This allows deviations from the current geometry to be determined. In addition, the interaction of the edges can be determined. According to an embodiment, different predetermined patterns for different quality levels of one edge type can be used so that the quality is determined by using the predetermined pattern.

[0047] According to an embodiment, the processor (entity) 20 is configured to automatically detect the edge type and output the information to another entity, such as an edge detector that monitors the distance between the road construction machine and the edge. To this end, it sets a control point, just like the edge itself, so that it can be continuously monitored during travel in the direction of travel. For example, when assuming a milling edge (such as Figure 2aWhen the milling edge is shown in FIG. 1 , the control point can be set to align with the edge. However, if the edge does not include a vertical slope but a flat slope (e.g. 70° or less), then according to further embodiments, the control point can be adjusted, for example by a user. Figure 2c and Figure 2d As shown. Figure 2c In Figure 2, two potential control points to be set are shown, and Figure 2d Then three potential control points are shown. Of course, more control points can be set in between. This means that the control points can be adjusted to the positions shown or between the positions shown. According to an embodiment, the control points can be set during the initial startup phase. For example, when determining the edge type, the user can be asked to set the control points or confirm the control points automatically set by the controller 20.

[0048] According to a further embodiment, the processor (controller) 20 is configured to learn different edge types or learn one edge type scanned from different locations. This learning phase can be accomplished by using artificial intelligence. For example, labeled training data can be used to learn different types of edges. Additionally or alternatively, edges can be scanned as training data, where an operator enters labels regarding edge types.

[0049] According to a first aspect, a sensor system for a construction machine 50, in particular a road construction machine 50 or a paving machine, comprises an optical detector 10 which can be arranged on the construction machine 50 and is configured to scan the underground at a predetermined angle to obtain measurement data describing one or more intensity values ​​15s and / or one or more distance values ​​15a drawn within a predetermined angle; a processor 20 which is configured to analyze the measurement data so as to determine a pattern of intensity values ​​15s and / or distance values ​​15a according to a predetermined pattern in one or more predetermined patterns.

[0050] According to a second aspect, when referring again to the first aspect, the optical detector 10 is configured to scan the paved or laid ground across the travel direction of the construction machine 50 and / or at an angle range of 45° to 90° relative to the travel direction of the construction machine 50.

[0051] According to the third aspect, when referring again to any one of the first and second aspects, the optical detector 10 is configured to scan the underground to be paved or paved in a direction intersecting the travel direction of the construction machine 50 and / or at multiple positions along the travel direction of the construction machine 50.

[0052] According to a fourth aspect, when referring again to any one of the first to third aspects, one or more predetermined patterns include a milling edge 12k pattern, characterized in that there is a connection between two platforms, wherein the connection is substantially perpendicular to the two platforms or has an inclination angle in the range of 70° to 90°.

[0053] According to a fifth aspect, when referring again to any one of the first to fourth aspects, the one or more predetermined patterns include a laying edge 12k pattern, characterized in that there is a connection between two platforms, wherein the inclination angle of the connection is less than 70°.

[0054] According to a sixth aspect, when again referring to any one of the first to fifth aspects, one or more predetermined patterns include a curb edge 12k pattern, characterized in that there is a connection between two platforms or a substantially vertical connection between them, wherein one of the edges 12k includes a rounded corner and / or wherein the spacing between two edges 12k is greater than 5 cm or 10 cm [approximately].

[0055] According to a seventh aspect, when referring again to any one of the first to sixth aspects, the optical detector 10 includes a LiDAR sensor and / or a laser scanner.

[0056] According to the eighth aspect, when referring again to any one of the first to seventh aspects, the controller is configured to set and / or determine control points associated with the pattern or a curb within the pattern, or control points associated with a user-determinable distance from a curb within the pattern.

[0057] According to the ninth aspect, when again referring to any one of the first to eighth aspects, the processor 20 is configured to determine a pattern within multiple measurement data determined along the direction of travel and / or during multiple subsequent time points; and / or wherein the processor 20 is configured to track control points determined within the pattern along the direction of travel and / or along multiple measurements determined in multiple subsequent time points.

[0058] According to a tenth aspect, when referring again to any one of the first to ninth aspects, the processor 20 is configured to perform a predetermination of one or more patterns during a teaching phase and / or during a training phase and / or during a training phase performed using artificial intelligence.

[0059] According to the eleventh aspect, when referring again to any one of the first to tenth aspects, the processor 20 is configured to automatically determine the control point and / or the relationship or lateral distance between the control point or the control point and the construction machine 50, and / or output information about the distance or lateral distance between the control point and the construction machine 50.

[0060] According to a twelfth aspect, a construction machine 50 , in particular a working construction machine 50 or a paving machine, comprises a sensor system according to one of the preceding aspects.

[0061] According to a thirteenth aspect, when referring again to the twelfth aspect, the construction machine 50 comprises a controller for performing autonomous, semi-autonomous and / or automatic control based on measurement data provided by the sensor system.

[0062] According to a fourteenth aspect, a method for curb detection using a sensor system for a construction machine 50, in particular a road construction machine 50 or a paving machine, comprises the following steps: scanning the underground at a predetermined angle to obtain measurement data describing one or more intensity values ​​15s and / or one or more distance values ​​15a drawn within a predetermined angle; analyzing the measurement data to determine a pattern of intensity values ​​15s and / or distance values ​​15a according to a predetermined pattern in one or more predetermined patterns.

[0063] A fifteenth aspect relates to a computer program for executing the steps of the method according to the fourteenth aspect when run on a controller of a construction machine 50 .

[0064] Although some aspects have been described in the context of devices, it is clear that these aspects also represent descriptions of corresponding methods, where blocks or devices correspond to method steps or features of method steps. Similarly, aspects described in the context of method steps also represent descriptions of corresponding blocks or items or features of corresponding devices. Some or all method steps can be performed by (or using) hardware devices, such as, for example, microprocessors, programmable computers, or electronic circuits. In some embodiments, some of the most important method steps can be performed by such devices.

[0065] According to some implementation requirements, the embodiments of the present invention can be implemented in hardware or software. The implementation can be performed using a digital storage medium on which electronically readable control signals are stored, such as a floppy disk, DVD, Blu-ray, CD, ROM, PROM, EPROM, EEPROM or flash memory, which cooperates with a programmable computer system (or can cooperate with a programmable computer system) to perform the corresponding method. Therefore, the digital storage medium can be computer readable.

[0066] Some embodiments according to the invention comprise a data carrier comprising electronically readable control signals, which are capable of cooperating with a programmable computer system, such that one of the methods described herein is performed.

[0067] Generally, embodiments of the present invention can be implemented as a computer program product with a program code, when the computer program product runs on a computer, the program code is operative for performing one of the methods.For example, the program code can be stored on a machine readable carrier.

[0068] Other embodiments comprise the computer program for performing one of the methods described herein, stored on a machine readable carrier.

[0069] In other words, an embodiment of the inventive method is, therefore, a computer program comprising a program code for performing one of the methods described herein, when the computer program runs on a computer.

[0070] Therefore, another embodiment of the inventive method is a data carrier (or a digital storage medium or a computer-readable medium) comprising, recorded thereon, the computer program for performing one of the methods described herein. The data carrier, the digital storage medium or the recorded medium are generally tangible and / or non-transitory.

[0071] Therefore, a further embodiment of the inventive method is a data stream or a sequence of signals representing the computer program for performing one of the methods described herein. The data stream or the sequence of signals may, for example, be configured to be transmitted via a data communication connection (eg via the Internet).

[0072] A further embodiment comprises a processing means, for example a computer or a programmable logic device, configured to or adapted to perform one of the methods described herein.

[0073] A further embodiment comprises a computer having installed thereon the computer program for performing one of the methods described herein.

[0074] Another embodiment according to the invention comprises an apparatus or system configured to transmit (e.g., electronically or optically) a computer program for performing one of the methods described herein to a receiver. The receiver may be, for example, a computer, a mobile device, a storage device, etc. The apparatus or system may, for example, comprise a file server for transmitting the computer program to the receiver.

[0075] In some embodiments, a programmable logic device (e.g., a field programmable gate array) can be used to perform some or all of the functions of the methods described herein. In some embodiments, a field programmable gate array can cooperate with a microprocessor to perform one of the methods described herein. Generally, these methods are preferably performed by any hardware device.

[0076] The above embodiments are merely for the purpose of illustrating the principles of the present invention. It should be understood that modifications and variations of the arrangements and details described herein will be apparent to other persons skilled in the art. Therefore, the present invention is intended to be limited only to the scope of the claims of the proposed patent application, and is not limited to the specific details presented by the description and explanation of the embodiments herein.

Claims

1. A sensor system for a construction machine (50), in particular a road construction machine (50) or a paving machine, comprising: an optical detector (10) which can be arranged on the construction machine (50) and is configured to scan the ground at a predetermined angle relative to the side to obtain measurement data describing one or more intensity values ​​(15s) and one or more distance values ​​(15a) mapped within the predetermined angle; a processor (20) configured to analyze the measurement data to determine a pattern of intensity values ​​(15s) and / or distance values ​​(15a) according to a predetermined pattern of one or more predetermined patterns; wherein the one or more predetermined patterns include a milled edge (12k) pattern characterized by a connection between two platforms, wherein the connection is substantially perpendicular to the two platforms or has an inclination angle in the range of 70° to 90°; and wherein the one or more predetermined patterns include a laying edge (12k) pattern, wherein the laying edge (12k) pattern is characterized by a connection between two platforms, wherein the inclination angle of the connection is less than 70°; and Wherein, the one or more predetermined patterns include a curb edge (12k) pattern, wherein the curb edge (12k) pattern is characterized by having a connection between two platforms or a substantially vertical connection between them, wherein one edge (12k) includes a rounded corner and / or wherein the spacing between the two edges (12k) is [approximately] greater than 5 cm or 10 cm.

2. The sensor system according to claim 1, wherein: The optical detector (10) is configured to scan the underground to be paved or paved across the travel direction of the construction machine (50) and / or at an angle ranging from 45° to 90° relative to the travel direction of the construction machine (50).

3. The sensor system according to claim 1, wherein: The optical detector (10) is configured to scan the underground to be paved or paved in a direction intersecting the travel direction of the construction machine (50) and / or along a plurality of positions along the travel direction of the construction machine (50).

4. The sensor system according to claim 1, wherein: The optical detector (10) comprises a LiDAR sensor and / or a laser scanner.

5. The sensor system according to claim 1, wherein: The processor (20) is configured to determine control points associated with the pattern, in particular control points associated with curbs within the pattern or associated with user-determinable spacings of the curbs within the pattern; or wherein the processor (20) is configured to set the control point associated with the pattern, in particular a control point associated with a curb within the pattern or associated with a user-determinable spacing of the curb within the pattern; or The processor (20) is configured to determine and set control points associated with the pattern, in particular control points associated with a curb within the pattern or associated with a user-determinable spacing of the curb within the pattern.

6. The sensor system according to claim 1, wherein: The processor (20) is configured to determine the pattern within a plurality of measurement data determined along a direction of travel and / or during a plurality of subsequent time points; and / or Therein, the processor (20) is configured to track the control points determined within the pattern along the direction of travel and / or along a plurality of measurement values ​​determined at a plurality of subsequent time points.

7. The sensor system according to claim 1, wherein: The processor (20) is configured to perform the predetermination of one or more patterns during a teaching phase and / or during a training phase and / or during a training phase performed using artificial intelligence.

8. The sensor system according to claim 1, wherein: The processor (20) is configured to automatically determine a control point of the construction machine (50), in particular a relationship or a lateral distance to the control point, or a relationship or a lateral distance between the control point and the construction machine (50); or wherein the processor (20) is configured to output information about a distance or a lateral distance from a control point of the construction machine (50); or The processor (20) is configured to automatically determine a relationship or a lateral distance from a control point of the construction machine (50), and output information about the distance or the lateral distance from the control point.

9. A construction machine (50), in particular a working construction machine (50) or a laying machine, comprising a sensor system according to any of the preceding claims.

10. The construction machine (50) according to claim 10, wherein: The construction machine (50) comprises a controller for performing autonomous, semi-autonomous and / or automatic control based on measurement data provided by the sensor system.

11. A method for detecting a road edge using a sensor system for a construction machine (50), in particular a road construction machine (50) or a paving machine, comprising the following steps: scanning the subsurface at a predetermined angle relative to the side to obtain measurement data describing one or more intensity values ​​(15s) and one or more distance values ​​(15a) mapped within said predetermined angle; analyzing the measurement data to determine a pattern of intensity values ​​(15s) and distance values ​​(15a) according to a predetermined pattern of one or more predetermined patterns; wherein the one or more predetermined patterns include a milled edge (12k) pattern characterized by a connection between two platforms, wherein the connection is substantially perpendicular to the two platforms or has an inclination angle in the range of 70° to 90°; and wherein the one or more predetermined patterns include a laying edge (12k) pattern, wherein the laying edge (12k) pattern is characterized by a connection between two platforms, wherein the inclination angle of the connection is less than 70°; and Wherein, the one or more predetermined patterns include a curb edge (12k) pattern, wherein the curb edge (12k) pattern is characterized by having a connection between two platforms or a substantially vertical connection between them, wherein one edge (12k) includes a rounded corner and / or wherein the spacing between the two edges (12k) is [approximately] greater than 5 cm or 10 cm.

12. Computer program for executing the steps of the method according to claim 11 when the computer program is run on a controller of a construction machine (50).

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