Method for establishing reference station setpoint for setting reference station, method for determining position of reference point of construction machine, position determination system, and construction machine system

Abstract

The invention relates to a method for determining a reference station setpoint for setting a reference station (15) in the vicinity of a field-moving self-propelled construction machine (I). The construction machine is moved to a waypoint in the field, and a reference station (15) is arranged near the waypoint. At this waypoint, position data describing the position of the construction machine reference point (R) on the construction machine is determined on the basis of a satellite signal of a global navigation satellite system (S) and a correction signal of a reference station arranged on site in the vicinity of the construction machine. Position data describing the position of a reference station setup point is determined on the basis of position data describing the position of a construction machine reference point (R) on the construction machine (I) at this waypoint and on the basis of a specified spatial relationship between the construction machine reference point (R) and a point specified as the reference station setup point on the ground. The invention further relates to a method and a position determination system (II) for determining the position of a reference point on a self-propelled construction machine.

Description

TECHNICAL FIELD

[0001] The invention relates to a method for establishing a reference station setting point for setting a reference station in the vicinity of a mobile construction machine at a construction site, which reference station transmits a correction signal to a DGNSS flow station unit assigned to the construction machine, which DGNSS flow station unit determines position data describing the position of a construction machine reference point on the construction machine in a coordinate system independent of the construction machine on the basis of satellite signals of a global navigation satellite system and the correction signal of a reference station which has been set up on site at another setting point in the vicinity of the construction machine. Furthermore, the invention relates to a method for determining the position of a construction machine reference point on a mobile construction machine in a coordinate system independent of the construction machine. The invention also relates to a position determination system for determining the position of a construction machine reference point on a mobile construction machine in a coordinate system independent of the construction machine, and to a construction machine system comprising a construction machine and a position determination system. BACKGROUND

[0002] Mobile construction machines are to be understood as meaning all construction machines which have a work device arranged on a machine frame for building structures or modifying a construction site. Well-known mobile construction machines include, for example, road milling machines, stabilizers, regenerators, slipform pavers and road pavers. In a road milling machine or a regenerator, the work device comprises a milling / chipping drum equipped with milling or chipping tools by means of which material can be removed from the construction site within a specified work width. The work device of a slipform paver is a device for shaping flowable material, in particular concrete, with which different designs of structures, for example guide walls or traffic islands, can be produced. Known road pavers comprise a paving screed for laying a material for a road surface. Soil compactors, such as a road roller, have at least one compaction device, in particular a compaction drum, for compacting the underlying soil.

[0003] In the following, the reference station setting point to be established is to be understood as meaning a setting point to be defined at which a reference station is to be set up in the vicinity of a mobile construction machine which is to be moved along a specified path at a construction site. The specified path does not mean that the construction machine has to travel autonomously. The construction machine can also be controlled by a machine operator. The reference station setting point to be established has to be distinguished from a reference station setting point which has already been established, for example during a planning phase, and at which a reference station has already been set up. The established reference station setting point is referred to as a specified reference station setting point. The current reference station setting point is to be understood as meaning the individual setting point at which a reference station has been deployed. The position of the specified reference station setting point can be stored as position data in a memory as a position data set in order to be possibly used for a construction project. Another reference station setting point is to be understood as meaning a determined reference station setting point.

[0004] High demands are placed on the precision of the work operation during the construction of structures on the ground or during the on-site renovation. In the control of self-propelled engineering machines, it is therefore increasingly aimed at lightening the burden of the machine operator, who has a large number of tasks to perform during the work operation. Known self-propelled engineering machines therefore use a position determination system which determines the position of a reference point on the self-propelled engineering machine in a coordinate system independent of the engineering machine.

[0005] The term "GPS (Global Positioning System)" is used to describe a position determination system based on evaluating the signal propagation time of signals from a plurality of satellites. Today, the abbreviation GPS is used as a general term or in part for the whole in spoken language and even sometimes in technical language, which is correctly classified under the abbreviation GNSS (Global Navigation Satellite System) (Wikipedia: GPS). The term DGPS (Differential Global Positioning System) or DGNSS is used to describe a method of improving the accuracy of GNSS position determination by transmitting correction signals (orbital and time system). DGNSS can also use a fixed reference station, known as a base station, which can be used to determine the actual signal propagation time of each satellite very accurately from the deviation between the actual position and the received position. The difference between the theoretical signal propagation time and the actual signal propagation time is transmitted to the DGNSS receivers, which correct their position using these correction signals (Wikipedia: DGPS). In the following, a (D)GPS rover unit or a (D)GNSS rover unit is also understood to mean a DGPS or DGNSS rover unit or vice versa, the terms (D)GPS and (D)GNSS being used as synonyms in this context.

[0006] DE 197 56 676 C1 discloses a road milling machine comprising a DGNSS for position determination. The engineering machine comprises a DGNSS rover unit for receiving satellite signals of a global navigation satellite system and correction signals of a reference station, which DGNSS rover unit is configured to determine position data describing the position of a reference point on the engineering machine in a coordinate system independent of the engineering machine on the basis of the satellite signals and the correction signals.

[0007] The reference station for transmitting the correction signals to the DGNSS rover unit is arranged in the vicinity of the engineering machine in order to improve the accuracy of the position determination. When the engineering machine moves on site, the reference station has to be repositioned, since the radio connection range between the DGNSS rover unit and the reference station is limited and the accuracy of the position determination decreases with increasing distance between the rover unit and the reference station.

[0008] DGNSS requires the exact position of a known reference station on site. The exact position of the reference station is also referred to as the actual reference station position. The actual reference station position can be determined using conventional surveying methods. In practice, the reference stations are set at specific reference station set points on site, which have been established beforehand during the planning of the site and whose position data is known. This specification position data is manually entered into the reference station by means of an input unit during the set-up of the construction site. Every time a reference station is repositioned or another reference station is set up, the data has to be re-entered. In practice, this procedure proves not only to be time-consuming but also error-prone, since the correct position data has to be entered at the relevant set point. Determining the exact coordinates of the reference stations set up on site and transferring these coordinates into the memory unit of the reference station is referred to hereinafter as the initialization of the reference station.

[0009] From DE 10 2022 124 484 A1 a position determination system for determining the position of a reference point on a self-propelled engineering 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 such that it is able to determine its own reference station position. However, due to the inaccuracy of the reference station position determined by the reference station itself, the actual reference station position is transferred to the reference station by means of initialization.

[0010] The operating principle of the known position determination system is based on the fact that the reference stations are set at specific locations whose position is known. When the machine moves along a given path, for example along a road to be constructed, the locations at which the reference stations are to be set are determined during the planning of the construction site in the office. These locations can be suitable markings on the ground in the vicinity of the work area of the engineering machine, for example.

[0011] DE 10 2022 124 484 A1 proposes that, for the initialization of the reference station, a position data set describing the specified position of the reference station is read from the memory unit and the actual reference station position is determined on the basis of a comparison between the specified position of the reference station and the reference station position determined by the reference station. The specified position of the reference station is understood to mean the locations whose position is known on site, at which the reference stations are to be set along the path to be processed. This comparison allows the automatic assignment of the relevant coordinate values, so that the coordinate values of the actual position of the reference station can be selected from the position data set without additional input on the construction site. This simplifies the initialization and eliminates incorrect input.

[0012] In practice, the points at which the reference stations are to be set, which are established beforehand on the ground in the planning office, can prove not to be the optimal reference station set points, or the reference stations can have to be set at different points on the ground. However, in practice, it is often laborious to subsequently measure the new set points using conventional surveying methods. SUMMARY

[0013] The object of the present invention is to specify a method for establishing a reference station set point for setting a reference station in the vicinity of a mobile construction machine at a construction site, which facilitates the establishment of a construction site in practice and reduces the risk of incorrect data input. A further object of the invention is to provide a method for determining the position of a machine reference point on a mobile construction machine at a construction site, which facilitates the establishment of a construction site in practice and reduces the risk of incorrect data input.

[0014] Furthermore, it is an object of the invention to provide a position determination system for determining the position of a machine reference point on a mobile construction machine, which system facilitates the setting of a construction site in practice and reduces the risk of incorrect data input, and to provide a machine system comprising a construction machine and a position determination system.

[0015] These objects are achieved according to the invention by the features of the independent claims. The subject matter of the dependent claims relates to preferred embodiments of the invention.

[0016] The method for establishing a reference station set point according to the invention is intended for setting a reference station which transmits a correction signal to a DGNSS flow station unit assigned to a mobile construction machine, which determines position data describing the position of a machine reference point on the construction machine in a coordinate system independent of the construction machine on the basis of satellite signals of a global navigation satellite system and a correction signal of a reference station which has been set on site at another set point in the vicinity of the construction machine.

[0017] The method according to the invention is characterized in that the construction machine is first moved to one path point at the construction site, at which path point the reference station is to be set. This path point does not have to be located on the desired reference station set point, but can be located close to it. At this path point, using the DGNSS flow station unit, position data describing the position of the machine reference point on the construction machine in a coordinate system independent of the construction machine is determined on the basis of satellite signals of a global navigation satellite system and a correction signal of a reference station which has been set on site in the vicinity of the earthmoving machine.

[0018] Then, a point on the ground is established which has a specified spatial relationship to the machine reference point on the construction machine as the reference station set point at which the reference station is to be deployed. In this context, establishing a point on the ground is understood to include all measures for marking the position of the point at the construction site. For example, the point at the construction site can be temporarily or permanently marked using suitable means. Thereafter, position data describing the position of the reference station set point is determined in a coordinate system independent of the working machine, based on position data describing the position of a working machine reference point on the working machine at the path point and based on a specified spatial relationship between the working machine reference point on the working machine and the point on the ground established as the reference station set point.

[0019] The position data describing the position of the reference station set point is then stored in a storage unit. The position data can be read out from the storage unit at any time for further data processing. Thus, the data can be used in particular for the initialization of a reference station set at the set point without the need for a regular measurement of the point by a surveyor. The determined reference station set point thus becomes an established reference station set point.

[0020] In this context, a storage unit is understood to mean any data storage device from which data can be read and which can store data, such as known electronic memories (semiconductor memories) and storage media which can be read or written with electronic devices. The storage unit can be part of the working machine or the reference station or can be an external memory (cloud storage). The embodiments of the application described hereinafter can comprise one or more of the features mentioned hereinafter or combinations of features. Features specified by indefinite articles can also occur more than once, unless the indefinite article is understood to refer to a single use. The specification of features by numerical terms, such as "first and second", does not exclude that a larger number of these features can be present. In the description of all embodiments, the expression "may" should also be understood as "preferably" or "suitably".

[0021] The method for establishing a reference station set point according to the application is intended to set a reference station in the vicinity of a mobile, self-propelled working machine on site. The establishment of the reference station set point on the ground can be carried out by means of a plumb body with a downwardly pointing tip suspended on a chain or a rope, which is fastened to the working machine at a fastening point having a specified spatial relationship to a working machine reference point on the working machine. The tip of the plumb body then points to the point on the ground at which the reference station is to be set. In order to be able to determine the point on site more easily and more accurately, the working machine is preferably lowered from an elevated position above the tip of the plumb body on the ground to a lowered position, while the tip of the plumb body points to the reference station set point, which can be permanently marked using suitable means. The working machine can be lowered until the tip of the plumb body touches the ground. However, if the tip of the plumb body is already located directly above the ground, it is not necessary to lower the working machine.

[0022] The reference station setup point on the ground can also be determined by means of a measuring rod with a downwardly directed tip, which is fastened to the working machine at a fastening point such that the measuring rod can be moved in the direction of its longitudinal axis, the fastening point having a specified spatial relationship to the working machine reference point on the working machine. In order to determine the reference station setup point, the measuring rod can be lowered from an elevated position in which the tip of the measuring rod is located above the ground to a lowered position in which the tip of the measuring rod points to the reference station setup point. When the measuring rod is lowered to the ground, its tip can be used at least temporarily to mark the reference station setup point on the ground.

[0023] A further alternative is to establish the reference station setup point on the ground by means of a laser, which is fastened to the working machine at a fastening point having a specified spatial relationship to the working machine reference point on the working machine. The laser beam is then directed to the reference station setup point, which can be permanently marked using suitable means.

[0024] The permanent marking of the reference station setup point can be carried out using known marking elements, in particular with ground pegs. Alternatively or additionally, the surface can be marked with color, for example using spray paint.

[0025] The specified spatial relationship of the reference station setup point to the working machine reference point (R) on the working machine can be any spatial relationship. In practice, however, the aim is to establish a spatial relationship that is as simple as possible. This can be achieved by aligning the working machine horizontally or parallel to the ground in order to determine the reference station setup point on the ground.

[0026] In embodiments in which a plumb body suspended on a chain or a rope is used, horizontal alignment of the working machine proves to be optimal, since in the horizontal alignment the chain or the rope forms a right angle with the plumb body and the transverse plane of the machine frame. This results in a relatively simple geometric relationship between the working machine reference point, the fastening point and the projection of the fastening point on the ground, which establishes the reference station setup point.

[0027] In embodiments in which a measuring rod is used, alignment of the working machine parallel to the ground proves to be optimal, since the longitudinal axis of the measuring rod and the ground enclose a right angle when aligned parallel to the ground.

[0028] However, if the inclination of the working machine relative to the horizontal plane is known, the position data describing the position of the reference station setup point can also be determined without the working machine being aligned in a specific manner.

[0029] The method for determining the position of a reference point of a working machine in a coordinate system independent of the working machine moving on a site according to the invention, for supplying a reference station in the vicinity of the working machine and a DGNSS rover unit, which determines position data describing the position of the reference point on the working machine in a coordinate system independent of the working machine on the basis of satellite signals of a global navigation satellite system and correction signals from the reference station arranged in the vicinity of the working machine, wherein the correction signals are based on the actual reference station position and a reference station position calculation by the reference station.

[0030] The DGNSS rover unit is understood to mean a mobile unit, which can determine the position of a self-propelled working machine when the rover unit is assigned to the working machine. The DGNSS rover unit can comprise several components, such as at least one GPS antenna, which is arranged at the working machine reference point so that the GPS antenna can receive satellite signals, and a calculation and evaluation unit. The DGNSS rover unit can also comprise two GPS antennas, which not only enable the position of the working machine to be determined, but also its orientation in the site.

[0031] Furthermore, the method according to the invention provides that the reference station setting points at which the reference stations are to be arranged are determined by the method according to the invention described above, and that the reference stations are arranged at the reference station setting points determined by the method described above in order to be able to determine the position of the working machine reference point with high accuracy while the working machine is moving along the specified path.

[0032] In practice, the reference station setting points are usually pre-measured by a surveyor on site, and only when new reference points need to be determined during the construction work, it is considered to determine the reference station setting points according to the method according to the invention described above. However, in principle, it is also possible to only measure the first reference station setting point by the surveyor along the path and to determine all setting points using the method according to the invention. However, in this case, there is a risk of avoidable error propagation.

[0033] After the position of the new reference station setting point has been determined by the method according to the invention without the need for a new measurement, the position of the reference station setting point can be stored in a storage unit together with the other specified positions measured by the surveyor. Then, a reinitialization of the reference stations to be newly arranged can be determined on the basis of a comparison between the position data describing the position of the specified reference station setting points stored in the storage unit and the reference station positions determined by the reference stations according to the method described in DE 10 2022 124 484 A1.

[0034] A position determination system for determining a position of a construction machine reference point on a self-propelled construction machine in a coordinate system independent of the construction machine according to the invention comprises a DGNSS rover unit assigned to the construction machine and a reference station arranged in the vicinity of the construction machine.

[0035] The DGNSS rover unit is configured to receive satellite signals of a global navigation satellite system and correction signals from the reference station arranged in the vicinity of the self-propelled construction machine and, based on the satellite signals and the correction signals, to determine position data describing a position of the construction machine reference point on the construction machine in a coordinate system independent of the construction machine.

[0036] The reference station arranged in the vicinity of the construction machine is configured to send correction signals to the DGNSS rover unit, the correction signals being based on an actual reference station position and a reference station position calculation by the reference station.

[0037] The position determination system according to the invention is characterized in that it comprises a reference station setting point establishing device configured to enable a point on the ground having a specified spatial relationship to the construction machine reference point on the construction machine to be set as a reference station setting point. The reference station setting point establishing device allows the reference station setting point to be defined subsequently without the need for a surveyor to re-survey.

[0038] The reference station setting point establishing device can comprise a plumb body with a downwardly pointing tip suspended on a chain or a rope, or a surveying rod with a downwardly pointing tip, or a laser. In addition, the reference station setting point establishing device can comprise a marking element for marking the reference station setting point, in particular a ground peg.

[0039] An embodiment of the position determination system according to the invention provides that the DGNSS rover unit is configured to determine position data describing a position of the reference station setting point in a coordinate system independent of the construction machine based on position data describing a position of the construction machine reference point on the construction machine at a path point and based on a specified spatial relationship between the construction machine reference point on the construction machine and a point on the ground set as a reference station setting point. In order to set and determine the position of the reference station setting point, the construction machine only needs to be moved to a position close to the desired point.

[0040] The DGNSS rover unit can be configured to determine the position of the reference station setting point having a specified spatial relationship to the construction machine reference point on the construction machine based on satellite signals and correction signals of a reference station deployed in the vicinity of the construction machine.

[0041] A further embodiment of the position determination system according to the application provides that position data describing the position of the specified reference station setting point is stored in a storage unit, and the position determination system is configured, for initializing a reference station to be set at the reference station setting point, to read out the position data describing the position of the reference station setting point from the storage unit and to determine the actual reference station position on the basis of a comparison between the position data describing the specified reference station setting point and the reference station position determined by the reference station.

[0042] The comparison allows the automatic assignment of the relevant coordinate values, so that the coordinate values of the actual position of the reference station can be selected from the position data set without additional input on the construction site. This simplifies the initialization and eliminates incorrect input. In this context, the comparison is understood as relating the individual positions in order to be able to determine the deviation between the known exact position and the imprecise measured position, so that the values can be correctly assigned to one another. The comparison can be made on the basis of known calculation operations or algorithms.

[0043] The working machine system according to the application comprises a working machine and a position determination system according to the application. The working machine system is thus understood as an arrangement of the working machine and the position determination system.

[0044] The reference station setting point establishing device can comprise: a plumb body having a downwardly directed tip, suspended on a chain or a rope, which is fastened to a fastening point provided on the working machine, which fastening point has a specified spatial relationship to the working machine reference point on the working machine; or a measuring rod having a downwardly directed tip, which is fastened to the working machine at a fastening point such that the measuring rod can be moved in the direction of its longitudinal axis, which fastening point has a specified spatial relationship to the working machine reference point on the working machine; or a laser, which is fastened to the working machine at a fastening point, which fastening point has a specified spatial relationship to the working machine reference point on the working machine.

[0045] In principle, any device that can determine a spatial relationship to the working machine reference point on the working machine is suitable as a reference station setting point establishing device. This also includes devices that can be moved relative to the working machine, such as a pivotable boom, provided that the relative movement relative to the working machine reference point can be detected.

[0046] Since the dimensions of the working machine are known, the spatial relationship between the working machine reference point and the reference station setpoint position can also be determined. The specified spatial relationship can be determined on the basis of the distance from the fastening point to the working machine reference point in the X direction of the Cartesian coordinate system, the distance from the fastening point to the working machine reference point in the Y direction of the Cartesian coordinate system, and the distance from the fastening point to the ground in the Z direction of the Cartesian coordinate system. The Cartesian coordinate system is preferably a coordinate system with reference to the working machine, whereby the Y axis can extend in the longitudinal direction of the working machine and the X axis can extend in the transverse direction thereof. The coordinate system can be oriented such that the distances in the X and Y directions are independent of the height of the working machine reference point above the ground.

[0047] In a further embodiment of the working machine system according to the application, the working machine comprises a machine frame with a drum housing that is open downwards, in which a work drum for working the ground is arranged, which drum housing is closed at least on one side by an edge guard that is adjustable on the machine frame between a position elevated with respect to the ground and a position lowered onto the ground, in which lowered position the edge guard rests with a lower edge of the edge guard on the ground. The working machine comprises a measuring device that records the height position of the edge guard. In this embodiment, the DGNSS flow station unit is configured to determine the distance from the fastening point to the ground in the Z direction of the Cartesian coordinate system on the basis of the height information of the measuring device. Such a distance determination is particularly advantageous in embodiments in which a laser is employed. In embodiments in which a chain or a rope and a plumb body are employed, the distance in the Z direction can in principle also be determined on the basis of the known dimensions of the working machine and the length of the chain or rope and the plumb body alone when the working machine is lowered until the tip of the plumb body contacts the ground. In embodiments in which a measuring rod is employed, the measuring rod can be moved and / or the working machine can be lowered until the tip of the measuring rod contacts the ground. BRIEF DESCRIPTION OF DRAWINGS

[0048] A number of exemplary embodiments of the present application will be explained in more detail in the following with reference to the drawings. In the drawings:

[0049] Figure 1 is a side view of a self-propelled working machine;

[0050] Figure 2 is Figure 1 is a plan view of the self-propelled working machine in

[0051] Figure 3 shows an embodiment of a position determination system for determining the position of a reference point on a working machine;

[0052] Figure 4 shows a self-propelled working machine moving along a path, a reference station being arranged at a first position;

[0053] Figure 5 The image shows a self-propelled engineering machine moving along a path, with a reference station set at a second location.

[0054] Figure 6 The image shows a self-propelled engineering machine moving along a path, with a reference station set at the third position.

[0055] Figure 7 The image shows a self-propelled engineering machine moving along a path, with a reference station set at the fourth position.

[0056] Figure 8 A position determination system with an alternative embodiment for determining the position of a reference point on construction machinery is shown;

[0057] Figure 9 A position determination system with an alternative embodiment for determining the position of a reference point on construction machinery is shown;

[0058] Figure 10 This is a rear view of an exemplary embodiment of construction machinery, showing a reference station setting point establishment device;

[0059] Figure 11 yes Figure 10 Side view of the construction machinery in the picture;

[0060] Figure 12 Another exemplary embodiment of a reference station setup point establishment apparatus including a laser is shown;

[0061] Figure 13A Another exemplary embodiment of a reference station setup device including a measuring rod is shown, wherein the measuring rod is in an elevated position; and

[0062] Figure 13B Another exemplary embodiment of a reference station setup device including a measuring rod is shown, wherein the measuring rod is in a lowered position. Detailed Implementation

[0063] Figure 1 and Figure 2 The side view and plan view show a road milling machine for milling road surfaces as an example of self-propelled engineering machinery. This road milling machine is a front-loading road milling machine.

[0064] Construction machinery I includes a frame 2 supported by a chassis 1, on which a working device 3 is arranged, enabling the performance of tasks required for the construction project. The working device 3 includes a milling drum 4. Figure 1The milling drum is only shown schematically arranged in a downwardly open milling drum housing 5. The milling drum housing 5 is closed at both sides by edge guards 50 which can be adjusted on the machine frame 2 between a raised position relative to the ground B and a lowered position relative to the ground. During the milling operation, the edge guards 50 rest with their lower edges on the ground B. Two piston-cylinder arrangements 51, 52 are provided for adjusting the edge guards 50. In addition, a measuring device (not shown in Figure 1 and Figure 2 ) for detecting the height position of the edge guards 50 is provided, which can comprise measuring sensors assigned to the piston-cylinder arrangements 51 and 52 and provide height information.

[0065] Above the milling drum housing 5, an operator platform 6 with a control panel 7 for the machine operator is arranged on the machine frame. The control panel 7 can comprise a touch screen 8 on which control fields (buttons) are displayed. The milled material is removed by a conveyor device 9.

[0066] The self-propelled construction machine I can comprise, in the working direction A, a front left chassis 10A, a front right chassis 10B, a rear left chassis 11A and a rear right chassis 11B, which are each associated in the working direction A with a front left lifting device 12A and a front right lifting device 12B and with a rear left lifting device 13A and a rear right lifting device 13B, so that by retracting or extending the lifting devices, the height and the inclination of the machine frame 2 relative to the ground B can be changed.

[0067] The construction machine I is controlled by a control device 53, which is only shown schematically as a function of the construction machine position data which describe the position of a reference point R on the construction machine in a coordinate system (X, Y, Z) independent of the construction machine. In order to determine the position of the reference point R on the construction machine I, a position determination system II is provided, the structure and function of which will be described in detail hereinafter.

[0068] Figure 3 A simplified schematic diagram of the position determination system II is shown, which comprises a GNSS rover station unit 14 and a reference station 15. The GNSS rover station unit 14 is arranged on the construction machine I so that the GNSS rover station unit 14 moves with the construction machine I on the site, while the reference station 15 is arranged in the vicinity of the construction machine. The arrangement of the construction machine I with the position determination system II is also referred to as construction machine system III. Figures 4 to 7 ).

[0069] Figures 4 to 7 The movement of the construction machine I, in particular a road milling machine, along a specified path 16, in particular a road, on the site is shown. In Figures 4 to 7In the context of the present application, the possible set-up locations of the reference stations are marked with a cross, at which locations the reference stations 15 can be deployed. These set-up locations are usually specified during the planning of the construction site and can be marked with suitable marking elements that can be easily found on site. In the following, these locations are also referred to as reference station set points.

[0070] As the construction machine I moves along the path 16, the reference stations 15 are repositioned several times so that the reference stations always remain within a radius 17 of the construction machine I, which does not exceed a certain radius that essentially depends on the construction machine I, the reference stations 15 and the local conditions. The positions P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4), PN(XN, YN, ZN) of the reference station set points are described by coordinate values in a coordinate system that is independent of the construction machine. These coordinate values can be X, Y, Z coordinate values of a Cartesian coordinate system. For the sake of illustration, the X, Y, Z coordinate values of the respective positions P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4), PN(XN, YN, ZN) are each shown in a table. These coordinate values form a position data set PD, which describes the specified positions of the reference station set points.

[0071] The DGNSS rover unit 14 comprises at least one GPS antenna 14A arranged at the reference point R of the construction machine I, a calculation and evaluation unit 18 and a bidirectional transmission and reception unit 19 Figure 3 ). The reference station 15 comprises a GPS antenna 20, a calculation and evaluation unit 21 and a bidirectional transmission and reception unit 22. The DGNSS rover unit 14 and the reference station 15 communicate via the transmission and reception units 19, 22, which are intended to represent known transmission links that can operate according to known transmission methods (RF transmitter / receiver, WLAN, Bluetooth, etc.).

[0072] The GPS antenna 20 of the reference station 15 receives satellite signals from several satellites of at least one satellite navigation system S, whose computing and evaluation unit 21 is configured to determine the position P1'(X1', Y1', Z1'), P2'(X2', Y2', Z2'), P3'(X3', Y3', Z3'), P4'(X4', Y4', Z4'), PN'(XN', YN', ZN') of the reference station 15 with the accuracy corresponding to the GPS system from the satellite signals. This position is referred to as the reference station position P1', P2', P3', P4' determined, measured or received by the reference station. The computing and evaluation unit 21 of the reference station 15 is also configured to calculate the correction signal on the basis of the actual reference station position P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4), PN(XN, YN, ZN) and the measured reference station position P1'(X1', Y1', Z1'), P2'(X2', Y2', Z2'), P3'(X3', Y3', Z3'), P4'(X4', Y4', Z4'), PN'(XN', YN', ZN') according to known methods, which require that in addition to the measured reference station position, the actual reference station position is also known. This corresponds to the known position of the specified reference station setpoint.

[0073] The DGNSS rover unit 14 likewise receives satellite signals from several satellites of the global navigation satellite system S via the GPS antenna 14A. In addition, the DGNSS rover unit 14 receives the correction signal from the reference station 15 via the transmitting and receiving unit 19. The computing and evaluation unit 18 of the GNSS rover unit 14 is configured to determine the position data describing the (exact) position of the reference point R on the construction machine I with a higher accuracy in the coordinate system (X, Y, Z) independent of the construction machine I on the basis of the satellite signals and the correction signal according to known methods.

[0074] The computing and evaluation unit 18 of the DGNSS rover unit 14 and the computing and evaluation unit 21 of the reference station 15 can comprise, for example, a general-purpose processor, a digital signal processor (DSP) for continuous processing of digital signals, a microprocessor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other integrated circuits (IC) or hardware components. A data processing program (software) can run on the hardware components. Combinations of various components are also possible.

[0075] Figure 3An embodiment is shown in which the computing and evaluation unit 18 of the DGNSS rover unit 14 interacts with an external storage unit 23 in which a position data set PD is stored which describes the specified position of the reference station setting points of the reference stations. This storage unit 23 can also be a data memory of a server unit IV (file server), wherein the computing and evaluation unit 18 forms a network with the file server, which can be implemented, for example, via a wireless connection, such as a WLAN. However, the data exchange with the external storage unit can also take place via the Internet.

[0076] The computing and evaluation unit 18 of the DGNSS rover unit 14 and the computing and evaluation unit 21 of the reference station 15 are configured to carry out the following method steps to initialize the reference stations.

[0077] The reference stations 15, which are arranged at the positions PI (XI, YI, ZI), P2 (X2, Y2, Z2), P3 (X3, Y3, Z3), P4 (X4, Y4, Z4), PN (XN, YN, ZN), receive satellite signals S and send the measured position data PI' (XI', YI', ZI'), P2' (X2', Y2', Z2'), P3' (X3', Y3', Z3'), P4' (X4', Y4', Z4'), PN' (XN', YN', ZN') to the DGNSS rover unit 15 via the sending and receiving unit 22, which position data describe the reference station positions (XI', YI', ZI'), (X2', Y2', Z2'), (X3', Y3', Z3'), (X4', Y4', Z4'), (XN', YN', ZN') determined by the reference stations. Figure 3 , Figures 4 to 7). These position data are received by the DGNSS rover unit via the transmitting and receiving unit 19. The DGNSS rover unit 14 reads the position data sets PD describing the specified positions of the reference stations 15 from the external storage unit 23. On the basis of a comparison of the specified positions Pl (Xl, Yl, Zl), P2 (X2, Y2, Z2), P3 (X3, Y3, Z3), P4 (X4, Y4, Z4), PN (XN, YN, ZN) of the reference stations with the reference station positions Pl' (Xl', Yl', Zl'), P2' (X2', Y2', Z2'), P3' (X3', Y3', Z3'), P4' (X4', Y4', Z4'), PN' (XN', YN', ZN') determined by the reference stations 15, the DGNSS rover unit 14 determines the actual reference station positions Pl (Xl, Yl, Zl), P2 (X2, Y2, Z2), P3 (X3, Y3, Z3), P4 (X4, Y4, Z4), PN (XN, YN, ZN) and transmits the position data describing the actual reference station positions to the reference stations 15 via the transmitting and receiving unit 19, which receive these position data via the transmitting and receiving unit 22. Once the reference stations 15 know their actual positions, their calculation and evaluation unit 22 calculates the correction signals and transmits them to the DGNSS rover unit 15. The calculation and evaluation unit 18 of the DGNSS rover unit 14 then calculates the machine position data describing the exact position of the reference point R on the construction machine on the basis of the satellite signals and the correction signals.

[0078] In order to select the associated coordinate values, the calculation and evaluation unit 18 of the DGNSS rover unit 14 compares the received reference station positions Pl' (Xl', Yl', Zl'), P2' (X2', Y2', Z2'), P3' (X3', Y3', Z3'), P4' (X4', Y4', Z4'), PN' (XN', YN', ZN') of the reference stations 15 with the specified reference station positions Pl (Xl, Yl, Zl), P2 (X2, Y2, Z2), P3 (X3, Y3, Z3), P4 (X4, Y4, Z4), PN (XN, YN, ZN) assigned to the respective setting site from the position data sets PD. This will be described below using an exemplary embodiment.

[0079] Figure 3A reference station 15 is shown arranged at position P1. The measured coordinate values (X1', Y1', Z1') of the reference station position are (3, 5, 0). The calculation and evaluation unit 18 of the DGNSS rover unit 14 determines the deviations of the coordinate values (X1=4, Y1=5, Z1=1), (X2=8, Y2=8, Z2=0), (X3=12, Y3=6, Z3=2), (X4=15, Y4=7, Z4=2) of the specified positions of the reference station from the reference station position (3, 5, 0) determined by the reference station 14. It can be seen that the deviations of the coordinate values are smallest at position P1. Therefore, the position with coordinate values (4, 5, 1) is assumed to be the actual position of the reference station 15. The average deviation can be calculated, for example, from the coordinate values as follows. Position P1 3-4 in absolute value = 1 5-5 in absolute value = 0 0-1 in absolute value = 1 Average deviation: (1+0+1) / 3 = 2 / 3 [smallest average deviation] Position P2 3-8 in absolute value = 5 5-8 in absolute value = 3 0-0 in absolute value = 0 Average deviation: (5+3+0) / 3 = 8 / 3 Position P3 3-12 in absolute value = 9 5-6 in absolute value = 1 0-2 in absolute value = 2 Average deviation: (9+1+2) / 3 = 4 Position P4 3-15 in absolute value = 12 5-7 in absolute value = 2 0-2 in absolute value = 2 Average deviation: (12+2+2) / 3 = 16 / 3

[0080] The calculation and evaluation unit 18 of the DGNSS rover unit 14 selects the position P1 with coordinate values (4, 5, 1), since the average deviation 2 / 3 is smallest for position P1. However, it is also possible, for example, to calculate the distances (paths) between the positions in the coordinate system in the plane (two-dimensional) or in space (three-dimensional) and to select the position with the smallest distance.

[0081] The calculation and evaluation unit 18 of the DGNSS rover unit 14 can also be configured such that a specified location of the reference station is assumed to be the actual location of the reference station 15, the coordinate values ​​of which deviate from the coordinate values ​​of the reference station location determined by the reference station by a value less than or equal to a specified limit value, or multiple values ​​deviating from the specified limit value. For example, the absolute value of the difference between the individual coordinate values ​​can be calculated as follows, and compared, for example, with the limit value 1: Position P1 (limit value 1) The absolute value of 3-4 = 1 The absolute value of 5-5 = 0 The absolute value of 0 - 1 = 1 1≤10≤11≤1 Position P2 (limit value 1) The absolute value of 3-8 = 5 The absolute value of 5-8 = 3 The absolute value of 0 - 0 = 0 5>13>10≤1 Position P3 (limit value 1) The absolute value of 3-12 = 9 The absolute value of 5-6 = 1 The absolute value of 0 - 2 = 2 9>11≤12>1 Position P4 (limit value 1) The absolute value of 3-15 = 12 The absolute value of 5-7 = 2 The absolute value of 0 - 2 = 2 12>12>12>1

[0082] The calculation and evaluation unit 18 of the DGNSS rover unit 14 selects position P1 with coordinates (4, 5, 1) because the coordinates of position 1 are less than or equal to the limit value 1.

[0083] Figure 8 One embodiment is shown, which is different from the reference. Figure 3 The difference in the described implementation is that the calculation and evaluation unit 18 of the DGNSS rover unit 14 includes an internal storage unit 24 in which the location dataset PD is stored. Corresponding components are given the same reference numerals in the figures. The calculation and evaluation unit 18 includes a data interface 26 via which the location dataset PD can be read from a mobile data carrier (e.g., from a USB flash drive 25) into the internal storage unit 24. To read the data, the USB flash drive 25 is inserted into the USB port 26 provided on the DGNSS rover unit 14. Therefore, the location dataset PD is not read from an external storage unit 23 (e.g., a file server). Figure 3instead from the internal storage unit 24.

[0084] In an advantageous embodiment, the position data set PD is sent from the external storage unit 23 to the internal storage unit 24 of the working machine I via a wireless connection before the work operation starts, as described with reference to Figure 3 Thus, the position data set PD is available throughout the construction process, independently of the data connection to the central server unit, and can be easily sent to the working machine I before the operation.

[0085] The computing and evaluation unit 18 of the DGNSS rover station unit 14 and the computing and evaluation unit 21 of the reference station 15 can also be configured to carry out the following method steps to initialize the reference station.

[0086] The computing and evaluation unit 18 of the DGNSS rover station unit 14 reads the position data set PD describing the specified positions P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4), PN(XN, YN, ZN) of the reference stations from the external storage unit 23 Figure 3 ) or the internal storage unit 24 Figure 8 ) of the DGNSS rover station unit 14 and sends the position data set PD to the reference station 15, wherein the reference station receives these position data. In this embodiment, the reference station 15 then determines the actual reference station position based on a comparison between the specified positions of the reference stations and the reference station positions determined by the reference station, as described with reference to Figure 3 .

[0087] Figure 9 A further embodiment is shown, in which the server unit IV has a storage unit 27, into which the position data set PD is stored. The server unit IV forms a network, for example a WLAN, with the reference stations 15, or the reference stations 15 communicate with the server unit IV via the Internet. The computing and evaluation unit 21 of the reference station 15 and the server unit S are configured such that the reference station 15 sends the reference station positions P1'(X1', Y1', Z1'), P2'(X2', Y2', Z2'), P3'(X3', Y3', Z3'), P4'(X4', Y4', Z4'), PN'(XN', YN', ZN') determined by the reference station 15 to the server unit IV, and these position data are received by the server unit S, wherein, as described with reference to Figure 3The illustrated embodiments differ in that not the DGNSS rover unit 14 but the server unit S determines the actual reference station position on the basis of a comparison between the specified position of the reference station and the reference station position determined by the reference station and transmits position data P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4), PN(XN, YN, ZN) describing the actual reference station position to the reference station 15 receiving the position data. In this embodiment, no bidirectional data transmission between the DGNSS rover unit 14 and the reference station 15 is required. Thus, the reference station 15 has only one transmitting unit 22’ and the DGNSS rover unit 14 has only one receiving unit 19’. The reference station 15 is also configured to exchange data with the server unit IV.

[0088] However, the server unit IV can also transmit a position data set PD describing the specified position of the reference station to the reference station 15 and the reference station 15 can receive the position data set, wherein the reference station 15 subsequently determines the actual reference station position P(X, Y, Z) on the basis of a comparison between the actual position of the reference station P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4), PN(XN, YN, ZN) and the reference station position P1’(X1’, Y1’, Z1’), P2’(X2’, Y2’, Z2’), P3’(X3’, Y3’, Z3’), P4’(X4’, Y4’, Z4’), PN’(XN’, YN’, ZN’) determined by the reference station, as described in DE 10 2022 124 484 A1. Figure 3

[0089] In principle, a data storage device (USB flash drive 25) can also be connected to the reference station in order to transmit the position data set PD to the reference station 15.

[0090] As described above and known from DE 10 2022 124 484 A1, determining the position of the reference point of the working machine on the working machine requires defining the reference station setpoint during the planning of the construction site and measuring the reference point on site by a surveyor.

[0091] The present application relates to the case where the reference station setpoint is determined without the involvement of a surveyor. This can occur if the reference station setpoint established during planning subsequently proves to be unsuitable, for example due to an obstruction by a building or a tree, or due to a too great distance from another reference station setpoint. In the event of a disruption to the construction work, it can be necessary to establish a new reference station setpoint in the vicinity of the working machine. For this purpose, the position determination system according to the application has a reference station setpoint establishment device, the structure and function of which will be described in detail below. In the case of the position determination system according to the application, the reference station setpoint establishment device is configured to establish the reference station setpoint on the basis of a comparison between the position of the working machine and the position of the reference point of the working machine. Figure 4 ​In the middle, a reference station set point to be newly established in the vicinity of the working machine is indicated by the reference PN.

[0092] It should be noted that it is not necessary to establish coordinates for the point PN in advance. The location can be freely chosen according to the actual situation at the construction site. The coordinates of this freely chosen location are subsequently determined by the method according to the application as described above.

[0093] Figure 10 A rear view of an embodiment of a working machine I according to the application is shown in the form of a simplified schematic view, and Figure 11 A side view of the working machine is shown, which working machine comprises a reference station set point establishing device IA according to the application. The parts of the working machine according to the application that correspond to the working machine in Figure 1 and Figure 2 are provided with the same reference numerals.

[0094] Figure 10 and 11 A chassis 2 of the working machine I is shown, which chassis is supported on the ground B in the working direction by a left chassis 11A and a right chassis 11B, and an edge guard 50 is arranged at the left and right sides and lowered to the ground at the location. One of the piston / cylinder arrangements 51 for adjusting the height of the edge guard 50 is shown in Figure 11 . The GPS antenna 14A of the DGNSS flow station unit 14 and the working machine reference point R are located at the top of the working machine I on its longitudinal axis. In Figure 10 , a measuring device 57 for determining the height position of the left and right edge guards 50 is shown only schematically. The measuring device 57 comprises a sensor 57A, which provides height information. The measuring device can for example comprise a sensor that detects the stroke position of the piston of the piston / cylinder arrangement 51, 52.

[0095] In the present embodiment, the reference station set point establishing device IA comprises a plumb body 55, which is suspended on a chain 54 or a rope and has a downward pointing tip 55A. The upper end of the chain 54 or the rope is fastened to the chassis 2. In the present embodiment, the fastening point 56 of the chain 54 or the rope is located at the lower rear corner of the chassis 2, so that the chain 54 or the rope with the plumb body 55 is clearly visible. The length of the chain 54 or the rope is dimensioned so that the tip 55A of the plumb body 55 reaches the ground B when the working machine I is in the corresponding height position. Figure 10The position of the working machine I is shown in which the tip 55A of the plumb body 55 just touches the ground B. In this position, the tip 55A of the plumb body 55 marks on the ground the reference station setting points PI (XI, YI, ZI), P2 (X2, Y2, Z2), P3 (X3, Y3, Z3), P4 (X4, Y4, Z4), PN (XN, YN, ZN).

[0096] From Figure 10 and Figure 11 it can be seen that the reference station setting points PI (XI, YI, ZI), P2 (X2, Y2, Z2), P3 (X3, Y3, Z3), P4 (X4, Y4, Z4), PN (XN, YN, ZN), i.e. the points marked on the ground by the tip of the plumb body, have a spatial relationship with the working machine reference point R, which spatial relationship is determined by the dimensions of the working machine I and its height position. Figure 10 and 11 A Cartesian coordinate system (X', Y', Z') is shown, the origin of which is on the longitudinal axis of the working machine in the longitudinal centre plane of the machine frame 2. If the position of the working machine reference point R is known, the positions of the reference station setting points PI (XI, YI, ZI), P2 (X2, Y2, Z2), P3 (X3, Y3, Z3), P4 (X4, Y4, Z4), PN (XN, YN, ZN) can be determined on the basis of a known distance ΔX' in the X' direction of the coordinate system (X', Y', Z') and a known distance ΔY' in the Y' direction of the coordinate system (X', Y', Z') and a distance ΔZ' = ΔZ'1 + ΔZ'2 in the Z direction of the coordinate system (X', Y', Z'), wherein the distance ΔZ'1 in the Z direction of the coordinate system (X', Y', Z') is derived from the dimensions of the working machine I or the arrangement of the fastening point 56 on the machine frame 2 and the distance ΔZ2 in the Z direction is derived from the distance between the machine frame 2 or the fastening point 56 and the surface of the ground B.

[0097] In the present embodiment, when the lower edge 50A of the left or right edge protection 50 rests on the ground B in the orientation of the working machine I shown in Figure 10 and 11 , the distance ΔZ'1 in the Z direction of the coordinate system (X', Y', Z') is obtained from the height information of the measuring device 57, as shown in Figure 10 and 11 . The height information used to determine the positions of the reference station setting points can in principle be provided by any measuring device that determines the distance between the machine frame and the ground. Such a measuring device already exists, for example, in self-propelled working machines used for levelling. If the length of the chain 54 is known and the tip 55A of the plumb body 55 touches the ground B, the measuring device can be dispensed with, so that the distance ΔZ'1 can be inferred.

[0098] The DGNSS flow station unit 14 of the position determination system II according to the application is configured to determine position data describing the position of a new reference station setting point PN in a coordinate system (X', Y', Z') independent of the work machine, on the basis of position data describing the position of a work machine reference point R on the work machine I at a path point and on the basis of a specified spatial relationship between the work machine reference point R and points arranged on the ground as reference station setting points P1 (X1, Y1, Z1 ), P2 (X2, Y2, Z2), P3 (X3, Y3, Z3), P4 (X4, Y4, Z4), PN (XN, YN, ZN).

[0099] In the present embodiment, in order to establish the new reference station setting point PN, the work machine is moved to a path point in the vicinity of which the reference station is to be arranged. In the present embodiment, the work machine is moved to a path point at which the tip 55A of the plumb body 55 points to a point of the site at which the reference station is to be arranged. At this point, the work machine is aligned by retracting or extending the lifting devices 12A, 12B and 13A, 13B such that the frame 2 lies in a horizontal plane, so that the chain 54 or the rope forms a right angle with the horizontal plane, i.e. the fastening point 56 of the chain 54 or the rope is located directly above the reference station setting point PN. Figure 10 and Figure 11 The lifting devices 12A, 12B and 13A, 13B can be retracted far enough until the tip 55A of the plumb body 55 contacts the surface of the ground B, so that the reference station setting point can be established precisely. The left and right edge guards 50 rest on the ground B. Then, the point at which the tip 55A of the plumb body 55 contacts the ground B is permanently marked with a marking element, in particular with a ground peg.

[0100] The DGNSS rover unit 14 determines position data describing the position of the machine reference point R on the machine I in a coordinate system (X', Y', Z') independent of the machine based on satellite signals of a global navigation satellite system S and correction signals of a reference station that has been set up on site at another setting point in the vicinity of the machine, for example the reference station set up at the reference station setting point P3. In addition, the DGNSS rover unit 14 determines position data describing the position of the new reference station setting point PN in the coordinate system (X', Y', Z') independent of the machine based on the position data describing the position of the machine reference point R on the machine I at the path point and the distance ΔX in the X direction of the coordinate system (X', Y', Z'), the distance ΔY' in the Y' direction of the coordinate system (X', Y', Z') and the distance ΔZ' = ΔZ'1+ ΔZ'2 in the Z direction of the coordinate system (X', Y', Z'). The distance ΔZ'2 in the Z direction of the coordinate system (X, Y, Z) is calculated by the DGNSS rover unit 14 from the height information of the measuring device 57. The values required for the calculation of the coordinates can be read from the storage unit. The position data describing the positions of the reference station setting points P1 (X1, Y1, Z1), P2 (X2, Y2, Z2), P3 (X3, Y3, Z3), P4 (X4, Y4, Z4) and PN (XN, YN, ZN) are then stored in the storage unit, for example the storage unit 23 Figure 3 ) or the storage unit 24 Figure 8 ) or the storage unit 27 Figure 9 , so that the newly generated points on site are available for further applications.

[0101] A reference station 15 can then be set up at the new reference station setting point PN, which has been "determined by the machine itself" without the need for a surveyor to be involved. When the reference station is set up at the new reference station setting point PN, the initialization of the reference station can be carried out by inputting or reading the position of the reference station setting point "determined by the machine itself" into the reference station.

[0102] In the present embodiment, the position of the reference station setting point "determined by the machine itself" is stored in the storage unit 23, 24 or 27 together with the specified positions P1 (X1, Y1, Z1), P2 (X2, Y2, Z2), P3 (X3, Y3, Z3), P4 (X4, Y4, Z4), PN (XN, YN, ZN) of the other reference stations. This position can therefore also be used by the system for further data processing.

[0103] The position determination system II is configured, for the initialization of a reference station set at a new reference station set point, to read the position data set PD describing the position of the reference station set point from the storage unit 23, 24 or 27 and to determine the actual reference station position on the basis of a comparison between the specified position of the reference station set point (P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4), PN(XN, YN, ZN)) and the reference station position P1'(X1', Y1', Z1'), P2'(X2', Y2', Z2'), P3'(X3', Y3', Z3'), P4'(X4', Y4', Z4'), PN'(XN', YN', ZN') determined by the reference station. The initialization of a new reference station can thus be performed in the same way as the initialization of a reference station already established, using the procedure described above.

[0104] Figure 12 An alternative embodiment of the reference station set point establishing device IA is shown, which differs from the reference station set point establishing device described above in that the plumb body suspended on a chain or rope is replaced by a laser 58 fastened to a fastening point 56 on the machine frame 2 of the working machine I, which fastening point has a specified spatial relationship with the working machine reference point (R) on the working machine. In this embodiment, the laser beam 59 impinges at right angles on the ground at the reference station set point PN.

[0105] Figure 13A and 13B A further alternative embodiment is shown, in which the reference station set point establishing device IA comprises a measuring rod 60 fastened to a fastening point 56 on the machine frame 2 of the working machine I so that it can be moved in the direction of its longitudinal axis. In order to fasten the measuring rod 60 so that it can be moved longitudinally, the reference station set point establishing device IA has a linear guide 61, which is shown schematically. In addition, a measuring device 62 is provided, which detects the height position of the measuring rod 60 with the aid of a measuring sensor, which provides height information of the measuring rod 60. The measuring rod 60 is fastened to the machine frame 2 so that its longitudinal axis forms a right angle with the ground B when the machine frame 2 is aligned horizontally. To establish the reference station set point, the measuring rod is moved from the position shown Figure 13A down to the position shown Figure 13B until its tip 60A touches the ground B. By means of the height information of the measuring device 62 and the known dimensions of the working machine I, all the values are again available to determine the exact position of the reference station set point using the method described above. It is generally a preferred procedure for determining the reference station setting point that the machine frame is aligned parallel to the ground and / or level. If the device is not intentionally aligned, the inclination of the machine frame relative to the ground or level can be determined using various sensors, such as sensors detecting the lifting position of the lifting columns 12A / B, 13A / B, or inclination sensors. By means of the determined inclination and the known dimensions of the machine frame, it is then also possible to determine the spatial relationship between the reference station setting point establishing device IA, such as the fastening point of a chain or a rope, and the reference point R of the engineering machine, and to carry out the method according to the application.

Claims

1. A method for establishing a reference station setting point, for setting up a reference station (15) near a self-propelled construction machinery (I) moving on-site, the reference station sending a correction signal to a DGNSS rover unit assigned to the self-propelled construction machinery, the DGNSS rover unit determining position data based on satellite signals from a Global Navigation Satellite System (S) and a correction signal from a reference station already set up on-site at another setting point near the construction machinery, the position data describing the position of a construction machinery reference point (R) on the construction machinery in a coordinate system (X, Y, Z) independent of the construction machinery, the method comprising the following steps: The construction machinery is moved to a path point on site, a reference station is set up near the path point, and the location data describing the position of the construction machinery reference point (R) on the construction machinery (I) in a coordinate system (X, Y, Z) independent of the construction machinery is determined by the DGNSS rover unit at the path point, based on the satellite signal of the Global Navigation Satellite System (S) and the correction signal of the reference station already set up on site near the construction machinery. Establish points on the ground that have a specified spatial relationship with the engineering machinery reference point (R) on the engineering machinery (I) as reference station setting points (P1(X1,Y1,Z1),P2(X2,Y2,Z2),P3(X3,Y3,Z3),P4(X4,Y4,Z4),PN(XN,YN,ZN)), and set up reference stations at the reference station setting points; Based on the positional data describing the position of the engineering machinery reference point (R) on the engineering machinery (I) at the path point, and based on the specified spatial relationship between the engineering machinery reference point (R) on the engineering machinery and the points established on the ground as reference station setting points (P1(X1,Y1,Z1), P2(X2,Y2,Z2), P3(X3,Y3,Z3), P4(X4,Y4,Z4), PN(XN,YN,ZN)), positional data describing the position of the reference station setting points (P1(X1,Y1,Z1), P2(X2,Y2,Z2), P3(X3,Y3,Z3), P4(X4,Y4,Z4), PN(XN,YN,ZN)) in a coordinate system (X,Y,Z) independent of the engineering machinery (I); and The location data describing the location of the reference station setting points (P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4), PN(XN, YN, ZN)) are stored in the storage unit.

2. The method according to claim 1, characterized in that, The establishment of reference station setting points (P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4), PN(XN, YN, ZN)) on the ground is carried out by a plumb bob (55) suspended on a chain (54) or rope, the plumb bob having a downward-pointing tip (55A), the chain or rope being fastened to the engineering machinery at a fastening point (56), the fastening point having a specified spatial relationship with the engineering machinery reference point (R) on the engineering machinery (I), wherein, preferably, the engineering machinery is lowered from an elevated position where the tip of the plumb bob is above the ground to a lowered position, while the tip of the plumb bob points towards the reference station setting point; or A reference station setting point (P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4), PN(XN, YN, ZN))) is established on the ground using a measuring rod (60) with a downward-pointing tip (60A). The measuring rod is fastened to the engineering machinery at a fastening point (56) such that the measuring rod can move in the direction of its longitudinal axis. The fastening point has a specified spatial relationship with the engineering machinery reference point (R) on the engineering machinery (I), wherein the measuring rod is lowered from an elevated position with its tip above the ground to a lowered position, while the tip of the measuring rod points towards the reference station setting point; or A reference station setting point (P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4), PN(XN, YN, ZN))) is established on the ground by a laser (58), the laser being fastened to the engineering machinery (I) at a fastening point (56), the fastening point having a specified spatial relationship with the engineering machinery reference point (R) on the engineering machinery.

3. The method according to claim 1 or 2, characterized in that, Align the engineering machinery (I) horizontally and / or parallel to the ground to establish the reference station setting points (P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4), PN(XN, YN, ZN)).

4. The method according to any one of claims 1 to 3, characterized in that, The reference station setting points (P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4), PN(XN, YN, ZN)) are marked by marking elements, in particular ground stakes.

5. A method for determining the position of a reference point (R) on a moving piece of construction machinery (I) in a coordinate system (X, Y, Z) independent of said construction machinery, comprising the following method steps: A reference station (15) is set up near the engineering machinery (I); A DGNSS rover unit is provided, which, based on satellite signals from a Global Navigation Satellite System (S) and correction signals from a reference station (15) located near the construction machinery (I), determines position data describing the position of a reference point (R) on the construction machinery (I) in a coordinate system (X, Y, Z) independent of the construction machinery. The correction signal is calculated based on the actual reference station positions (P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4), PN(XN, YN, ZN)) and the reference station positions determined by the reference stations (P1'(X1', Y1', Z1'), P2'(X2', Y2', Z2'), P3'(X3', Y3', Z3'), P4'(X4', Y4', Z4'), PN'(XN', YN', ZN')). The reference station setting point (P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4)) where the reference station (15) is deployed is established by the method according to any one of claims 1 to 4, and the reference station (15) is deployed at the reference station setting point.

6. The method according to claim 5, characterized in that, In order to initialize the reference station (15), the actual reference station position is determined by comparing the location data describing the location of the specified reference station setting point stored in the storage unit (23) with the reference station position (P1'(X1', Y1', Z1'), P2'(X2', Y2', Z2'), P3'(X3', Y3', Z3'), P4'(X4', Y4', Z4'), PN'(XN', YN', ZN')) determined by the reference station.

7. A positioning system for determining the position of a reference point (R) on a self-propelled construction machine (I) in a coordinate system (X, Y, Z) independent of the construction machine, comprising: A DGNSS rover unit (14) assigned to the construction machinery (I) is used to receive satellite signals from the Global Navigation Satellite System (S) and correction signals from a reference station (15) located near the self-propelled construction machinery. The DGNSS rover unit is configured to determine, based on the satellite signals and the correction signals, location data (P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4), PN(XN, YN, ZN)) describing the location of the construction machinery reference point (R) on the construction machinery (I) in a coordinate system (X, Y, Z) independent of the construction machinery; and The reference station (15) set near the engineering machinery (I) is used to send a correction signal to the DGNSS rover unit (14), wherein the reference station (15) is configured to calculate the correction signal based on the actual reference station position (P1(X1,Y1,Z1),P2(X2,Y2,Z2),P3(X3,Y3,Z3),P4(X4,Y4,Z4),PN(XN,YN,ZN)) and the reference station position determined by the reference station (P1'(X1',Y1',Z1'),P2'(X2',Y2',Z2'),P3'(X3',Y3',Z3'),P4'(X4',Y4',Z4'),PN'(XN',YN',ZN')). The location determination system (II) is characterized in that it includes a reference station setting point establishment device (IA), which is designed to establish points on the ground that have a specified spatial relationship with the engineering machinery reference point (R) on the engineering machinery (I) as reference station setting points (P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4), PN(XN, YN, ZN)).

8. The location determination system according to claim 7, characterized in that, The DGNSS rover unit (14) is configured to determine, in a coordinate system (X, Y, Z) independent of the construction machinery, the location data describing the position of the reference point (R) on the construction machinery (I) and the specified spatial relationship between the reference point (R) on the construction machinery and a point on the ground defined as the reference station setting point, the location data describing the position of the reference station setting point (P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4), PN(XN, YN, ZN)) describing the position of the reference station setting point (P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4), PN(XN, YN, ZN)) describing the position of the reference station setting point (P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4), PN(XN, YN, ZN)).

9. The location determination system according to claim 8, characterized in that, Location data describing the location of a specified reference station setting point is stored in storage unit (23), and the location determination system (II) is configured to read the location data describing the location of the reference station setting point from the storage unit in order to initialize a reference station (15) set at reference station setting points (P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4), PN(XN, YN, ZN)), and determine the actual reference station location based on a comparison between the location data describing the specified reference station setting point and the reference station location determined by the reference station.

10. The location determination system according to claim 9, characterized in that, The DGNSS rover unit (14) is configured to store in the storage unit (23) the location data which is based on the location of the engineering machinery reference point (R) on the engineering machinery (I) and the location data which is based on the engineering machinery reference point (R) on the engineering machinery and the specified spatial relationship between the engineering machinery reference point (R) on the engineering machinery and the reference station setting point defined on the ground (P1(X1,Y1,Z1), P2(X2,Y2,Z2), P3(X3,Y3,Z3), P4(X4,Y4,Z4), PN(XN,YN,ZN)) which describes the location of the reference station setting point ...

11. The location determination system according to any one of claims 7 to 10, characterized in that, The reference station setting point establishment device (IA) includes a plumb bob (55) with a downward-pointing tip (55A) suspended on a chain (54) or rope, or a measuring rod (60) with a downward-pointing tip (60A), or a laser (58).

12. The location determination system according to any one of claims 7 to 11, characterized in that, The reference station setting point establishment device (IA) includes marking elements for marking the reference station setting points, the marking elements being, in particular, ground stakes.

13. An engineering machinery system, comprising engineering machinery (I) and a position determination system (II) according to any one of claims 7 to 10, characterized in that: The reference station setting point establishment device (IA) includes a plumb bob (55) with a downward-pointing tip (56) suspended on a chain (54) or rope, which is fastened to a fastening point (56) on the engineering machinery, the fastening point having a specified spatial relationship with an engineering machinery reference point (R) on the engineering machinery. or The reference station setting point establishment device (IA) includes a measuring rod (60) with a downward-pointing tip (60A), the measuring rod being fastened to the engineering machinery at a fastening point (56) such that the measuring rod can move in the direction of its longitudinal axis, the fastening point having a specified spatial relationship with the engineering machinery reference point (R) on the engineering machinery (I); or The reference station setting point establishment device (IA) includes a laser (58) which is fastened to the engineering machinery at a fastening point (56) and the fastening point has a specified spatial relationship with the engineering machinery reference point (R) on the engineering machinery.

14. The engineering machinery system according to claim 13, characterized in that, The specified spatial relationship between the engineering machinery reference point (R) and the reference station setting points (P1(X1, Y1, Z1), P2(X2, Y2, Z2), P3(X3, Y3, Z3), P4(X4, Y4, Z4), PN(XN, YN, ZN)) is determined based on the distance from the fastening point (56) to the engineering machinery reference point (R) in the X' direction of the Cartesian coordinate system (X', Y', Z'), the distance from the fastening point (56) to the engineering machinery reference point (R) in the Y' direction of the Cartesian coordinate system (X', Y', Z'), and the distance from the fastening point (56) to the ground in the Z' direction of the Cartesian coordinate system (X', Y', Z').

15. The engineering machinery system according to claim 14, characterized in that, The engineering machinery includes a frame (2) having a downward-opening roller housing (5) in which a working roller (4) for working on the ground (B) is arranged. The roller housing is closed on at least one side by an edge guard (50) that is adjustable on the frame (2) between a raised position relative to the ground and a lowered position on the ground. In the lowered position on the ground, the lower edge (50A) of the edge guard is on the ground. The engineering machinery (I) has a measuring device (57) for detecting the height position of the edge guard. The DGNSS rover unit (14) is configured to determine the distance from the fastening point (R) to the ground in the Z direction of the Cartesian coordinate system based on the height information of the measuring device (57).

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