Method and system for determining position and / or orientation of tool of construction machine in construction region

Abstract

The invention relates to a method for determining the position and / or orientation of a tool of a construction machine in a construction area, comprising the following steps: attaching at least one stereo camera to at least one construction machine or a movable carrier, such that the stereo camera can detect at least one detection area, preferably at least one detection area within the construction area; the working area of the construction machine provides at least one reference point in the detection area of the at least one stereo camera, the position of which is known with respect to a predefined 3D world coordinate system and which can be distinguished in the image of the stereo camera. Calibrating the at least one stereo camera on the basis of the detection and triangulation of the at least one reference point in order to ascertain a transformation between a 3D world coordinate system and a 2D image coordinate system of the at least one stereo camera, and calibrating the at least one stereo camera on the basis of the detection of the construction region by means of the at least one stereo camera in order to ascertain the transformation between the 3D world coordinate system and the 2D image coordinate system of the at least one stereo camera. A virtual digital 3D topographic model of the construction region is prepared by means of digital image processing and image discrimination, in particular the digital image processing is stereoscopic, and representing a predetermined working position of a tool of the at least one construction machine and the detected actual tool position and / or actual tool tilt in the virtual digital 3D terrain model.

Description

Technical Field

[0001] The present invention relates to methods and systems for determining the position and / or orientation of tools used in constructing machines within a construction area. Background Technology

[0002] The actual location of the construction machine is known, determined by a GPS receiver mounted on the corresponding equipment carrier. Based on this, the working position or coordinates within the construction area can be determined by considering additional correlation data, thus reducing the inherent inaccuracies of determining the location solely by a GPS receiver. Location determination still always depends on the permanent reception and availability of GPS signals and on their accuracy. For example, it is conceivable that the reception of GPS or other satellite-based signals would become restricted or completely blocked in conflict zones to prevent the use of signals by conflicting parties.

[0003] Furthermore, high-accuracy GPS receivers are expensive, and the permanent recalculation of positions determined by GPS receivers within a constructed area is computationally intensive. This is more suitable if multiple constructed machines must be used and located within a constructed area.

[0004] Generally, at least three reference points can be used to locate the construction machine in a digital terrain model. This can be done, for example, using a Bluetooth Low Energy (BLE) beacon or transmitter that transmits and receives signals based on Bluetooth technology. To receive signals from the beacon, a permanently installed antenna system is typically used. However, alternatively, a smartphone is sufficient. Once a properly equipped smartphone is within the BLE beacon's receiving range, data is read. Once multiple receivers are located in their respective areas, the precise location of the BLE beacon can be determined. The transmitter's range is approximately 10-30 meters, but this can be severely limited by walls or other obstacles.

[0005] Therefore, it remains standard practice for surveyors to identify and mark locations within a structural area (e.g., drilling points or starting points). However, this process is also expensive and depends on the availability of appropriately qualified personnel.

[0006] US 2022 / 0 333 355 A1 discloses a method for providing operational guidance for a construction machine, wherein the method includes: identifying objects located around the construction machine; and capturing images of the objects using a 3D camera, the 3D camera including a stereo camera and an object identification sensor, which may be a RADAR sensor or a LIDAR sensor, and may emit and receive electromagnetic waves to identify distance, direction, etc. The method further includes: obtaining reference coordinates corresponding to the position of the construction machine using a position information receiving device, which may be GPS, GLONASS, Galileo, or a similar system; determining the relative coordinates of the objects relative to the construction machine from the image; performing a coordinate transformation on the relative coordinates based on the reference coordinates to obtain three-dimensional coordinates; and displaying the image with the three-dimensional coordinates on the screen of the construction machine. With the obtained three-dimensional coordinate data, cooperation with the control device of the construction machine is possible, for example, for machine steering or machine control.

[0007] EP 4 296 436 A1 discloses a system for planning a geodetic operation to be performed by a construction machine. The system includes: a measurement system configured to capture 3D measurement data of non-uniform terrain in the environment surrounding the construction machine in at least a first detection zone; a context camera having a known position and / or 3D measurement data relative to the measurement system and configured to capture context image data of the terrain within the first detection zone; a user interface configured to display at least one context image based on the context image data to an operator of the construction machine and receive user input from the operator, wherein the user input can be interpreted as or includes the selection of pixels of the context image; and an arithmetic logic unit at least operatively coupled to the measurement system and the user interface. The arithmetic logic unit is configured to: generate a 3D terrain model of the terrain within the first detection zone based on the 3D measurement data; interpret the user input as the selection of pixels of the context image; map the pixel selections to a surface of the 3D terrain model, taking into account the known relative position of the context camera; determine 3D coordinates on the surface based on the mapping; and provide the 3D coordinates to a machine control unit for controlling the geodetic operation at least partially based on the 3D coordinates.

[0008] EP 4 324 988 A1 discloses a method and system for configuring a machine control unit of a construction machine to control a geomovement operation having multiple stages to be performed continuously (e.g., controlling a motorized grader or tracked vehicle for trench or road construction). The system includes: a measurement system comprising at least one measurement unit on the construction machine, wherein each measurement unit is designed to capture 3D point cloud data, i.e., as three-dimensional measurement data. Each measurement unit includes at least one laser scanner, multiple time-of-flight (ToF) cameras, a millimeter-wave radar system, and / or one or more stereo camera systems. The system further includes: a context camera having a known position and / or three-dimensional measurement data relative to the measurement system, and configured to detect context image data of the terrain within a first detection area. In this case, a user interface is configured to display at least one context image based on the context image data to an operator of the construction machine, an arithmetic logic unit is configured to overlay identified elements onto the displayed context image and receive operator input related to the next stage of the geomovement process, and the configuration of the machine control unit is also based on the input provided by the operator. Optionally, the user interface may include a touch-sensitive display on which a contextual image is displayed and on which user input is received. Input by the operator regarding the settings may include selection of one or more of the identified elements.

[0009] These systems generally address solutions for detecting objects in the immediate work area of ​​the construction machine in question and displaying them in a digital terrain model relative to the construction machine to assist the machine operator in operating the construction machine in question.

[0010] Civil engineering equipment is known from EP 3 553 229 A1, in which at least one camera is arranged on the upper section of the mast, capable of capturing images of the civil engineering equipment and its surrounding environment as a measure for visual safety monitoring of the site. By using multiple cameras, their images can be linked to corresponding software, allowing 360° images of the surrounding environment to be combined from multiple camera setups. If a person or object approaches the civil engineering equipment and enters the safety zone, a warning signal can be output via a control unit via sound, light, or other means. In this solution, only images of the surrounding environment are recorded and assessed for movement of external objects.

[0011] DE 10 2021 214 441 A1 discloses a method for determining the orientation angle of a sensor system for calibrating a working machine, the working machine being configured to determine the orientation angle of a rotatable superstructure displaying the orientation of the working machine, wherein at least one camera for detecting the surrounding environment of the working machine is attached to the superstructure.

[0012] This invention is based on and in principle utilizes stereoscopic or stereoscopic vision technology, a field of digital image processing that has been subject to research for many years. In this respect, a detailed description of the technology is not provided in the context of this disclosure. Stereoscopic vision aims to obtain depth information from at least two images simultaneously showing the same object from different perspectives. The distance to the imaged object can be calculated using the perspective difference between the two two-dimensional images. Therefore, at least two cameras are required for stereoscopic images. Vision using two cameras is referred to as spatial vision, three-dimensional vision, or stereoscopic vision.

[0013] If the location of the object point in space is known, then the relative position and orientation of the camera with respect to a predefined world coordinate system are needed. These variables are called extrinsic or external camera parameters. The world coordinate system is determined by a known calibration body. The process of determining the intrinsic and extrinsic camera parameters is called calibration. The purpose of camera calibration is to determine the transformation between the 3D world coordinate system and the 2D image coordinate system. Summary of the Invention

[0014] The objective of this invention is to provide a method and system for determining the position and / or orientation of tools used in constructing a machine within a construction area, wherein the position determination is possible in a cost-effective and accurate manner.

[0015] According to the invention, this objective is achieved by both a method and a system for determining the position and / or orientation of a tool for constructing a machine in a construction region, each having the features of claim 1 or claim 10. Preferred embodiments of the invention are set forth in the dependent claims.

[0016] The method according to the present invention is characterized by comprising the following steps: - Attach at least one stereo camera to at least one construction machine or movable carrier, such that the stereo camera is capable of detecting at least one detection area within the construction area, preferably the working area of ​​the construction machine. - Provide at least one reference point in the detection area of ​​the at least one stereo camera, the position of which is known relative to a predefined 3D world coordinate system, and which can be identified in the image of the stereo camera. - Based on the detection and triangulation of the at least one reference point, calibrate the at least one stereo camera to determine the transformation between the 3D world coordinate system and the 2D image coordinate system of the at least one stereo camera. - Based on the detection of the constructed area using the at least one stereo camera, a virtual (digital) 3D terrain model of the constructed area is prepared (after calibration) using digital image processing (stereometry) and image recognition. - The virtual 3D terrain model represents the predetermined working position (e.g., target drilling point or starting point) of the tool of the at least one construction machine and the detected actual tool position and / or actual tool tilt.

[0017] A fundamental concept of this invention is to generate a digital virtual 3D terrain model of a site (construction area), that is, based on stereoscopic techniques using a stereo camera to detect at least one detection area (preferably, the working area of ​​the construction machine) within the construction area. For reference / calibration, at least one reference point is provided and detected by the stereo camera, the precise world coordinates of which are known (e.g., by surveying or by a GPS receiver). After calibration, a digital virtual 3D terrain model is prepared based on an image of the construction area detected by the stereo camera.

[0018] The 3D terrain model can be continuously updated and improved by further images of the constructed area taken by a stereo camera during construction operations and analyzed by stereoscopic methods (optionally, also due to the movement of the construction machine in different camera orientations, or by using further stereo cameras with different orientations on the same construction machine or on a further construction machine operating within the same construction area). Providing the stereo camera on a movable carrier (e.g., a tripod or table) temporarily positioned in a suitable location or at multiple different locations within the construction area is also conceivable.

[0019] According to the present invention, a number of advantages are obtained, namely: no expensive GPS equipment is required for preparing virtual 3D terrain models; the 3D terrain models can be used to document comparisons between targets and actual conditions (e.g., as documentation of construction progress or proof of quality); and / or the virtual digital 3D terrain models can also be used to locate construction machines (or further construction machines) or their tools separately (optionally, also to set the tilt of drilling tools) without the need for expensive GPS equipment to be kept available and permanently operational on each construction machine.

[0020] While previous applications of site detection using sensors including stereo cameras have involved near-field positioning around the working position of construction machines and using the results directly to aid in the manipulation or control of the construction machines, the present invention aims to first use stereoscopic techniques to prepare a global virtual digital 3D terrain model of the construction area so that tools or construction machines can be moved to their production sites based on this information, plus further information from current detections by one or more stereo cameras, and construction tasks can be carried out here under monitoring.

[0021] In this context, "being monitored" means, in addition to determining the structural elements relative to the site plan (individual bored pile) on which work is currently being carried out, determining further quality-related information, such as the location of the drilling start point, the orientation of the equipment relative to the borehole (which is crucial for measuring verticality), the orientation of the drill pipe relative to the top edge of the terrain, or the tilt of the rope grab relative to the slot.

[0022] Therefore, according to the present invention, the method may further include: locating and / or orienting the tool of the at least one construction machine (or another construction machine) based on a virtual 3D terrain model so as to match the target with the actual value.

[0023] The accuracy of the virtual digital 3D terrain model can be improved by repeatedly (e.g., intermittently or continuously) detecting the constructed region with the aid of at least one stereo camera (preferably while its position or orientation is being changed or after it has been changed and has another detection area), and by continuously expanding and updating / aligning the virtual 3D terrain model with digital image processing (stereometry) and image discrimination based on the repeated detection of the constructed region with the aid of at least one stereo camera.

[0024] The accuracy of the virtual digital 3D terrain model can also be improved by: providing at least one further stereo camera, which is arranged such that it detects a region of constructed area different from the detection area of ​​the at least one stereo camera, and preferably detects the at least one reference point and / or further reference point whose precise world coordinates are known (e.g., by measurement or by a GPS receiver); calibrating the at least one further stereo camera based on the detection of the at least one and / or further reference point, and determining the transformation between the 3D world coordinate system and the 2D image coordinate system of the at least one further stereo camera by triangulation. Then, the accuracy of the virtual 3D terrain model of the constructed area is improved by incorporating the detection of the constructed area by the at least one further stereo camera into the virtual 3D terrain model of the constructed area using digital image processing (stereometry) and image discrimination.

[0025] It can also improve the accuracy of virtual digital 3D terrain models, whereby: identifying and taking into account further influencing factors, such as the position of the sun or wind direction, when preparing and / or updating / aligning the virtual digital 3D terrain model.

[0026] According to the present invention, a constructing machine can be autonomously oriented in a constructed area without relying on external signals (such as GPS) to permanently determine its location. This is achieved by deriving a machine coordinate system from a virtual 3D terrain model (either the constructing machine or the tool or a local coordinate system) and using the derived machine coordinate system to locally determine the position and / or orientation of the constructing machine or tool within the constructed area. For example, the derived machine coordinate system can be loaded into the controller of the constructing machine.

[0027] Finally, the method according to the invention may further include: aligning a digital site plan of the construction area with a virtual 3D terrain model of the construction area; and identifying positional deviations. The result of this alignment may be used and stored for the purpose of documenting the work process (e.g., in the context of quality assurance and quality certification), and / or may be used to correct the positioning of one / the tool of one / the construction machine during the ongoing construction process in the event of positional deviations.

[0028] Accordingly, the present invention also relates to a system for determining, specifically according to the method of the invention, the position and / or orientation of a tool of a construction machine in a construction area, comprising: at least one stereo camera attached to at least one construction machine or movable carrier, such that the stereo camera is capable of detecting at least one detection area within the construction area, preferably the working area of ​​the construction machine; at least one reference point in the detection area of ​​the at least one stereo camera, the position of which is known relative to a predefined 3D world coordinate system and is identifiable in the image of the stereo camera; and means configured to perform the following steps of the method: - Based on the detection and triangulation of the at least one reference point, calibrate the at least one stereo camera to determine the transformation between the 3D world coordinate system and the 2D image coordinate system of the at least one stereo camera. - Based on the detection of the constructed area using the at least one stereo camera, a virtual digital 3D terrain model of the constructed area is prepared using digital image processing (specifically, stereoscopics) and image recognition, and - The virtual digital 3D terrain model represents the predetermined working position of the tool of the at least one construction machine and the detected actual tool position and / or actual tool tilt. Attached Figure Description

[0029] The present invention will now be explained with reference to the accompanying drawings, based on exemplary embodiments, in which: Figure 1 This is a schematic diagram illustrating the construction region of the method according to the present invention; and Figure 2It is a schematic diagram showing the relationship between a construction machine or construction equipment and multiple reference points used to determine the orientation and position of the construction machine / construction equipment by measuring the distance to the reference points based on stereoscopic methods. Detailed Implementation

[0030] Figure 1 and 2 The method for determining the position and / or orientation of a tool 1a of a construction machine 1 in a construction area BF, as shown schematically in a medium-high degree, firstly includes providing at least one reference point 3 whose position is known relative to a predefined 3D world coordinate system. In this method, shown here as an example, it is intended to generate an overlapping borehole wall 4 using a tool in the form of a drilling rig or drill pipe 1a by means of a plurality of aligned and partially overlapping borehole piles.

[0031] Reference point 3 serves as a unique, calibrated object within the constructed area, providing a reference for further positioning. The location of reference point 3 can be determined by the surveyor, optionally using satellite signals. Since it is sufficient to determine the position within the 3D world coordinate system in a single step, a more complex process than that used for permanent positioning with simple navigation equipment can be accepted for this purpose.

[0032] According to the invention, at least one stereo camera 2a; 2b is then attached to at least one construction machine 1 or a movable carrier, such that the stereo camera can detect at least one detection area 2a1; 2b1 within the construction area BF, preferably the working area 1b of the construction machine 1, and such that the at least one reference point 3 can be identified in the stereo camera image of the detection area 2a1; 2b1. This is sufficient to enable the reference point 3 to be detected at least in the rotational position of the construction machine, which may be a mobile construction machine in the form of a civil engineering machine including a movable landing gear and a superstructure rotatable relative to it.

[0033] Since the reference point may fall within the area where it is impossible to locate the point due to the visibility and distance from the civil engineering machine, multiple reference points 3 are preferably arranged to be distributed on the structure area BF for complete detection of the entire structure area by means of one or more stereo cameras.

[0034] The at least one stereo camera is preferably attached to the construction machine such that its detection area 2a1; 2b1 detects the relevant area of ​​the construction region including at least one reference point 3. To accomplish this, the stereo camera can be mounted on a rotatable superstructure or on the mast or another exposed component of the construction machine, in which the detection area is not, or is almost entirely, damaged by the construction machine itself or objects in the immediate working area 1b. Due to the rotation of the superstructure at the working point during operation and due to the movement of the construction machine to another working point, the detection area 2a1; 2b1 of the stereo camera is permanently moved, and the detected portion of the construction region around the construction machine is expanded.

[0035] Since at least one reference point 3 can be identified in the images of the stereo camera in detection areas 2a1 and 2b1, the stereo camera can accurately reproduce the distance to that point. Because its location attached to the construction machine is known, the orientation of the superstructure and the position of the civil engineering machine can be inferred. After moving the construction machine or the civil engineering machine respectively, reference point 3 was detected from different perspectives.

[0036] By calibrating the at least one stereo camera 2a; 2b based on the detection and triangulation of the at least one reference point 3, the transformation between the 3D world coordinate system and the 2D image coordinate system of the at least one stereo camera 2a; 2b can be determined in a manner known per se.

[0037] Similarly, in a manner known per se, a virtual digital 3D terrain model of the structural region BF can then be prepared after calibration, based on the detection of the structural region BF by means of at least one stereo camera 2a; 2b, using digital image processing (stereometry) and image recognition.

[0038] By detecting the same or different detection portions over a longer period of time that is continuously offset from each other, it is possible not only to detect the area directly around the construction machine in a 360° radius, but also to detect and image the entire construction area in a virtual digital 3D terrain model.

[0039] By intermittently or continuously repeating the detection of already detected segments of the constructed region BF with the help of at least one stereo camera 2a; 2b (preferably, when its position or orientation is being changed or after it has been changed and then has another detection area 2a1; 2b1), and by continuously expanding and updating / aligning the virtual digital 3D terrain model based on the repeated detection of the constructed region BF with the help of the at least one stereo camera 2a; 2b, the coverage and accuracy of the virtual digital 3D terrain model are continuously improved by means of digital image processing (stereometry) and image discrimination.

[0040] To improve the coverage and accuracy of the virtual digital 3D terrain model, at least one further stereo camera 2a; 2b can be provided and arranged such that it detects at least partially a structural region BF that differs from the detection area 2a1; 2b1 of the at least one stereo camera 2a; 2b, and preferably detects the at least one reference point 3 and / or one or more further reference points 3. The further stereo camera(s) can be calibrated by triangulation based on the detection of the at least one reference point and / or based on the one or more further reference points 3 to determine the transformation between the 3D world coordinate system and the 2D image coordinate system of the at least one further stereo camera 2a; 2b. By incorporating the detection of the structural region BF by the at least one further stereo camera 2a; 2b into the virtual 3D terrain model of the structural region BF using digital image processing (stereometry) and image discrimination, partial detection of the structural region at different angles allows for broad coverage of the structural region even when the pivoting stereo camera and / or their corresponding detection area are limited, without spanning a wide area.

[0041] To improve the accuracy of virtual digital 3D terrain models, additional influencing factors (such as the position of the sun or wind direction) can be detected using corresponding sensors, and these additional influencing factors can be taken into account when preparing and / or updating / aligning the virtual digital 3D terrain model.

[0042] The tool 1a of the at least one constructing machine 1 can be represented on the virtual 3D terrain model as a predetermined working position (e.g., target drilling point or starting point) and actual tool position and / or actual tool tilt, which has been detected by one or more stereo cameras, optionally once the predetermined minimum accuracy is reached.

[0043] Once the predetermined accuracy of the virtual digital 3D terrain model is achieved, the detection frequency of one or more stereo cameras can certainly be reduced, and the associated computational effort can be decreased.

[0044] Then, the representation in the virtual digital 3D terrain model can be used as the basis for the positioning and orientation of the tool 1a of the at least one construction machine 1, so as to match the target with the actual value.

[0045] In particular, the starting point of a particular civil engineering element (such as a pile or panel) can be identified by images from one or more stereo cameras. The X, Y, and Z coordinates of the starting point, as well as the possible orientation, can also be detected for non-rotationally symmetric elements by using multiple stereo cameras.

[0046] This allows for automatic alignment between the actual starting point and the digital site plan without human intervention. For example, automatic comparisons of component dimensions can be made to verify, for instance, the correct drilling diameter. Finally, component IDs can be automatically assigned between the digital site plan and the actual construction execution, and this can be communicated in an up-to-date manner (“Drilling is now being carried out at pile 13”) and / or recorded and evaluated in another way, such as for determining construction progress.

[0047] Therefore, based on the alignment of the digital site plan of the constructed area with the virtual digital 3D terrain model of the constructed area prepared on the basis of image detection, positional deviations can be identified on the one hand, and on the other hand, the alignment results can be stored for the purpose of documenting the work process, and / or at least in the case of positional deviations, the alignment results can be used to correct the positioning of one / the tool of the construction machine. Once the construction machine is positioned in the constructed area, it can of course be recalibrated / positioned at the unique construction elements that have already been generated with known locations.

[0048] For example, for further locations within a constructed area, a machine coordinate system of one / the constructed machine 1 or one / the tool 1a or a local coordinate system can be derived from a virtual 3D terrain model, and the derived machine coordinate system can be used to locally determine the location and / or orientation of the constructed machine 1 or tool 1a within the constructed area BF, without relying on current location determination by means of satellite signals or manual calibration processes.

[0049] The present invention also relates to a system for determining, specifically according to the method of the invention, the position and / or orientation of a tool 1a of a construction machine 1 in a construction area BF. The system comprises: at least one stereo camera 2a; 2b attached to at least one construction machine 1 or a movable carrier, such that the stereo camera can detect at least one detection area 2a1; 2b1 within the construction area BF, preferably the working area of ​​the construction machine 1; at least one reference point 3 in the detection area 2a1; 2b1 of the at least one stereo camera 2a; 2b, the position of which is known relative to a predefined 3D world coordinate system and can be identified in the image of the stereo camera; and means configured to implement the steps described above of the method. The means may, for example, be housed in a location container 5 within or at the construction area BF, wherein signals from one or more stereo cameras 2a; 2b can be transmitted to the means using a wireless transmission protocol. The same applies to the transmission of data generated by the means (for control and / or display) to one or more construction machines in the construction area.

Claims

1. A method for determining the location and / or orientation of a tool used to construct a machine in a construction region, comprising: At least one stereo camera is attached to at least one construction machine or movable carrier, such that the stereo camera is capable of detecting at least one detection area within the construction area, preferably the working area of ​​the construction machine. At least one reference point is provided in the detection area of ​​the at least one stereo camera, the position of which is known relative to a predefined 3D world coordinate system, and which can be identified in the image from the stereo camera. The at least one stereo camera is calibrated based on the detection and triangulation of the at least one reference point in order to determine the transformation between the 3D world coordinate system and the 2D image coordinate system of the at least one stereo camera. Based on the detection of the constructed region using at least one stereo camera, a virtual digital 3D terrain model of the constructed region is prepared using digital image processing and image recognition, specifically, the digital image processing being stereoscopic, and The virtual digital 3D terrain model represents the predetermined working position of the tool of the at least one construction machine and the detected actual tool position and / or actual tool tilt.

2. The method according to claim 1, comprising: Based on the virtual digital 3D terrain model, locate and / or orient the tools of the at least one construction machine so as to match the target with the actual value.

3. The method according to claim 1, comprising: The virtual 3D terrain model is continuously expanded and updated / aligned by means of digital image processing (stereometry) and image discrimination based on repeated detection of the constructed area by means of the at least one stereo camera, preferably while it is being moved or after it has been moved and has another detection area.

4. The method according to claim 1, comprising: At least one further stereo camera is provided, arranged such that it detects a region of the constructed region that is different from or at least partially different from the detection area of ​​the at least one stereo camera, and preferably detects the at least one reference point and / or further reference points. The at least one further stereo camera is calibrated based on the detection and triangulation of the at least one and / or further reference points in order to determine the transformation between the 3D world coordinate system and the 2D image coordinate system of the at least one further stereo camera, and The detection of the constructed region by the at least one further stereo camera is incorporated into the virtual 3D terrain model of the constructed region through digital image processing (stereometry) and image recognition.

5. The method according to claim 1, comprising: Identify further influencing factors, such as the position of the sun or wind direction, and take them into account when preparing and / or updating / aligning the virtual (digital) 3D terrain model.

6. The method according to claim 1, comprising: Derive a machine coordinate system from a virtual 3D terrain model for the constructing machine or the tool or local coordinate system, and use the derived machine coordinate system to locally determine the position and / or orientation of the constructing machine or the tool within the constructed area.

7. The method according to claim 1, comprising: Align the digital site plan of the constructed area with the virtual 3D terrain model of the constructed area; And to identify positional deviations.

8. The method of claim 7, comprising: The alignment results are stored for the purpose of documenting the work process.

9. The method of claim 7, comprising: The alignment results, under conditions of positional deviation, will be used to correct the positioning of one / the tool of the constructing machine.

10. A system for determining the position and / or orientation of a tool for constructing a machine in a construction region, specifically according to the method of claim 1, comprising: At least one stereo camera is attached to at least one construction machine or movable carrier, such that the stereo camera is capable of detecting at least one detection area within the construction area, preferably the working area of ​​the construction machine. At least one reference point in the detection area of ​​the at least one stereo camera, whose position is known relative to a predefined 3D world coordinate system, and which can be identified in the image of the stereo camera, and An apparatus configured to perform the following steps of the method: The at least one stereo camera is calibrated based on the detection and triangulation of the at least one reference point in order to determine the transformation between the 3D world coordinate system and the 2D image coordinate system of the at least one stereo camera. Based on the detection of the constructed region using at least one stereo camera, a virtual digital 3D terrain model of the constructed region is prepared using digital image processing and image recognition, specifically, the digital image processing being stereoscopic, and The virtual digital 3D terrain model represents the predetermined working position of the tool of the at least one construction machine and the detected actual tool position and / or actual tool tilt.

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