Self-propelled construction machine and device comprising self-propelled construction machine and mobile terminal, and method for positioning reference station setpoint of reference station arranged in vicinity of self-propelled construction machine

Abstract

A self-propelled construction machine I according to the invention has a DGNSS mobile station unit 14 for receiving satellite signals of a global navigation satellite system and correction signals of a reference station 15 arranged in the vicinity of the self-propelled construction machine. The DGNSS mobile station unit 14 comprises a calculation and evaluation unit 18 configured to determine construction machine position data describing a position of a construction machine reference point R on the construction machine based on the satellite signal and the correction signal of the reference station. The calculation and evaluation unit 18 is further configured to generate at least one machine-readable dataset, in particular a QR code, for a reference station location dataset stored in the reference station location data memory device 23, the dataset being displayed on a display 8A. The QR code can be scanned through a smart phone 26 provided with a map service with a navigation function, so that a setting point for setting the reference station can be easily found on a construction site. In an alternative embodiment, data may also be scanned using an RFID technology-based NFC receiving unit (NFC reader).

Description

Technical Field

[0001] This invention relates to a self-propelled construction machine having a frame supported by a traveling mechanism and an operating device for performing ground operations or constructing structures on a construction site. The self-propelled construction machine includes a DGNSS rover unit for receiving satellite signals from a global navigation satellite system and correction signals from a reference station located near the self-propelled construction machine. The DGNSS rover unit has a calculation and evaluation unit configured to determine construction machine position data describing the position of a construction machine reference point in a coordinate system independent of the construction machine, based on the satellite signals and the correction signals from the reference station. Furthermore, this invention relates to an apparatus comprising: a self-propelled construction machine having a frame supported by a traveling mechanism and an operating device for performing soil operations or constructing structures on a construction site; and a mobile terminal. Additionally, this invention relates to a method for locating a reference station location point for a reference station located near a self-propelled construction machine. Background Technology

[0002] Self-propelled construction machinery is understood as all construction machinery with working devices mounted on a frame for constructing structures on a construction site or for modifying a construction site. Well-known self-propelled construction machinery includes, for example, road milling machines, stabilizing machines, recycling machines, slipform pavers, and road pavers. In road milling machines or recycling machines, the working device includes a milling / cutting roller equipped with milling or cutting tools, by means of which material can be removed from the site within a specified working width. The working device of a slipform paver is a device for shaping flowable materials (specifically concrete), by which structures of various designs can be produced, such as guide walls or traffic islands. Known road pavers include slab pavers for laying road surface materials. Soil compactors, such as road rollers, have at least one compaction device for compacting the subsoil.

[0003] High precision is required during structural construction on the ground or during site renovation. Therefore, the control of self-propelled construction machinery increasingly aims to reduce the workload of operators, who bear a heavy burden of tasks during construction. Consequently, known self-propelled construction machinery utilizes positioning systems that determine the position of reference points on the machinery within a coordinate system independent of the machinery itself.

[0004] The term GPS (Global Positioning System) describes a positioning system that determines location based on the assessment of the propagation times of signals from multiple satellites. The abbreviation GPS is now used colloquially and even sometimes in technical language as a general term or to refer in part to the whole to all satellite navigation systems correctly categorized under the abbreviation GNSS (Global Navigation Satellite System) (Wikipedia: GPS). The term DGPS (Differential Global Positioning System) or DGNSS describes a method of improving the accuracy of GNSS positioning by transmitting correction signals (orbit and time systems). DGNSS can also use fixed reference stations, known as base stations, which can determine the actual propagation time of each satellite signal very precisely based on the deviation between the actual and received positions. The difference between the theoretical and actual signal propagation times is transmitted to DGNSS receivers, which use these correction signals to correct their positions (Wikipedia: DGPS). In the following text, GPS rover unit or GNSS rover unit is also understood to refer to DGPS or DGNSS rover unit or vice versa, wherein the terms (D)GPS and (D)GNSS are used as synonyms in this context.

[0005] DE 197 56 676 C1 describes a road milling machine with DGNSS for position determination. The construction machinery has a DGNSS rover unit for receiving satellite signals from a global navigation satellite system and correction signals from a reference station. The DGNSS rover unit is configured to determine, based on the satellite signals and correction signals, position data describing the position of a reference point on the construction machinery in a coordinate system independent of the construction machinery. To determine the correction signals, the reference station must know its own position.

[0006] From DE 10 2022 124 484 A1, a position determination system for determining a reference point on a self-propelled construction machine is known. This system has a DGNSS rover unit for receiving satellite signals from a Global Navigation Satellite System and correction signals from a reference station. The reference station is configured to determine its own reference station position. However, because the reference station's self-determined position is inaccurate, the actual reference station position is transmitted to the reference station during initialization.

[0007] DE 10 2022 124 484 A1 proposes that, to initialize a reference station, a location dataset describing the specified location of the reference station is read from a memory unit, and the actual reference station location is determined based on a comparison between the specified location of the reference station and the reference station location determined by the reference station. This comparison enables the automatic allocation of relevant coordinate values, allowing the selection of the coordinate values ​​of the actual location of the reference station from the location dataset without requiring additional input at the construction site. This simplifies initialization and eliminates incorrect input.

[0008] Reference stations used to send correction signals to DGNSS rover units are positioned near self-propelled construction machinery to improve the accuracy of location determination. When the construction machinery moves on the site, the reference station must be repositioned because the radio connection range between the DGNSS rover unit and the reference station is limited, and the accuracy of location determination decreases as the distance between the rover unit and the reference station increases.

[0009] In practice, reference stations are set up at a designated reference station location on the construction site. This reference station location is predefined during the site planning phase, and its location data is known. During site planning, multiple reference station locations are typically defined, situated near the paths along which self-propelled construction machinery will move. Surveyors use traditional surveying methods to determine the locations of these reference station locations and mark them with markers so that they can be located again later.

[0010] Before actual construction work begins, reference stations are typically set at the first reference station location and then repositioned. However, if multiple reference stations are available, they can also be set at multiple reference locations.

[0011] Although reference station placement points are pre-marked on the site by surveyors, in practice, locating them can be difficult if the markers are hard to identify. The markers may be obscured by structures, trees, or bushes. Locating the markers becomes increasingly difficult as the distance between the reference station placement point and the self-propelled construction machinery increases. Summary of the Invention

[0012] This invention aims to create a self-propelled construction machine having a frame supported by a walking mechanism and an operating device for working on soil or constructing structures on a construction site; and to create an apparatus comprising such a self-propelled construction machine and a mobile terminal that facilitates the location of marked reference station setting points. Furthermore, this invention aims to provide a method for facilitating the location of reference station setting points near the self-propelled construction machine.

[0013] These objectives are achieved according to the invention by the features of the independent claims. The dependent claims relate to preferred embodiments of the invention.

[0014] In the following text, a reference station placement point is understood as a spatial location on the construction site where a reference station is placed or will be placed near a self-propelled construction machine that is moving or will move along a designated path on the construction site. A designated path does not imply that the construction machine must be autonomously driven. The construction machine may also be controlled by a machine operator. The location of the reference station placement point on the construction site surface is described by reference station location data. Location data can be geographic coordinates that can be used to describe the location of a point on the Earth's surface. A reference station location dataset includes location data for multiple (i.e., at least two) reference station placement points.

[0015] The embodiments of the invention described below may include one or more features or combinations of features mentioned below. Features specified with an indefinite article may appear more than once even if the indefinite article is not understood to explicitly refer to a single use. Features specified with a number (e.g., "first and second") do not exclude the number of such features being greater than the number indicated by the number. In all descriptions of embodiments, the expression "may" should also be understood as "preferably" or "suitably".

[0016] The self-propelled construction machinery according to the invention has a DGNSS rover unit for receiving satellite signals from a global navigation satellite system and correction signals from a reference station located near the self-propelled construction machinery. The DGNSS rover unit has a calculation and evaluation unit configured to determine construction machinery position data describing the position of a construction machinery reference point on the construction machinery in a coordinate system independent of the construction machinery, based on the satellite signals and the correction signals from the reference station.

[0017] A DGNSS rover unit should be understood as a unit for self-propelled construction machinery that can determine the location of the machinery. A DGNSS rover unit may have a GPS antenna positioned at a reference point on the construction machinery to receive satellite signals. A DGNSS rover unit may also include two GPS antennas to determine not only the location of the construction machinery but also its orientation on the construction site. A DGNSS rover unit may at least partially comprise one or more parts or components of the self-propelled construction machinery. For example, at least a portion of the calculation and evaluation unit of the DGNSS rover unit may be part of the central calculation and evaluation unit of the self-propelled construction machinery. A DGNSS rover unit may also form an independent unit.

[0018] The computing and evaluation units of a DGNSS rover unit can have, 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 (ICs) or hardware components. Data processing programs (software) can run on the hardware components. Combinations of various components are also possible.

[0019] The calculation and evaluation unit of the DGNSS rover unit has a reference station location data storage device for storing a reference station location dataset containing reference station location data, wherein the reference station location data describes the reference station placement points of each of a plurality of reference stations located near the movement path of the self-propelled construction machinery. In this context, the reference station location data storage device is understood to refer to any data storage device capable of at least briefly storing the reference station location dataset for further data processing with the calculation and evaluation unit.

[0020] Reference station location data can also be data that is determined and stored during the execution of construction work, for example, if a new reference station setting point is subsequently defined because the reference station setting point specified during the planning period proves to be unsuitable—for example, due to shading.

[0021] The reference station location data storage device may be equipped with an interface for importing reference station location data from an external data source. This interface may be, for example, a USB interface, where the data source may be a USB storage stick. The reference station location data can also be transmitted via cellular networks, WLAN, or Bluetooth. For example, the reference station location dataset may be provided on an external server (cloud). For example, the reference station location dataset may also be sent via email.

[0022] The computation and evaluation unit of the DGNSS rover unit is configured to generate a machine-readable dataset or multiple machine-readable datasets for a reference station location dataset stored in a reference station location data storage device.

[0023] Machine-readable datasets are understood to be datasets designed and suitable for transmitting reference station location datasets to devices separate from construction machinery and available to those devices (machinery) in an automatically readable form.

[0024] The basic principle of this invention is to provide operators tasked with setting up one or more reference stations with information about the location of reference points in a simple, safe, and fast manner. This information can be scanned using a mobile terminal that is not part of the self-propelled construction machinery. The mobile terminal then allows processing of this information regardless of the location of the construction machinery, thereby facilitating the location of reference points on the construction site. The mobile terminal can be a mobile phone (specifically a smartphone), a laptop, a tablet, or a similar device. The mobile terminal can also be an NFC (Near Field Communication) reader based on RFID (Radio Frequency Identification) technology. Short-range wireless connectivity protocols such as Bluetooth can also be used for signal transmission.

[0025] In one embodiment of the self-propelled construction machinery according to the invention, the machine-readable dataset is a machine-readable code, specifically a QR code, and the DGNSS rover unit is equipped with a display, wherein the DGNSS rover unit is configured to display a machine-readable code on the display, or to display at least one of a plurality of machine-readable codes on the display.

[0026] QR codes have been established as a public standard (Wikipedia). A QR code consists of a square matrix of black and white squares or dots, which represent the encoded positional data in binary form.

[0027] A display is understood to refer to any device used for visualizing information. Only a single QR code can be displayed on a display, encoding reference station location data describing the location of a single reference station. QR codes for multiple reference stations can be displayed sequentially on a single display. However, multiple QR codes can also be displayed simultaneously on a single display, encoding reference station location data for multiple reference stations describing their locations. Multiple displays displaying QR codes are also possible. The display can be located in the operator's station area and / or in another easily accessible location on the construction machinery.

[0028] According to one embodiment of the self-propelled construction machinery of the present invention, a calculation and evaluation unit of a DGNSS rover unit is configured to generate machine-readable code containing reference station location data of each reference station for all reference station location data of a reference station location dataset stored in a reference station location data storage device, and the calculation and evaluation unit is configured to display the machine-readable code of all reference station location data on a display.

[0029] In a preferred embodiment, the calculation and evaluation unit is configured to generate a QR code containing the website's URL (Uniform Resource Locator). Therefore, by entering the URL into a browser to access the website or by launching an application (app), the location of the reference site can be located using all services available on the internet. Suitable websites and applications are widely available.

[0030] The present invention also relates to an apparatus comprising: a self-propelled construction machine having a frame supported by a walking mechanism, and working devices for working on soil or constructing structures on a construction site; and a mobile terminal. The mobile terminal is characterized by having an online map service, which facilitates easy location of reference station setup points on a map. The online map service can be provided by an application installed on the mobile terminal, which automatically launches after a QR code is scanned. Such mobile terminals are part of the prior art and are typically provided to operators in the form of smartphones.

[0031] A preferred embodiment provides: installing an online map service with navigation function on a mobile terminal, which not only makes it easy, quick and safe for operators to locate reference station setting points on the map, but also guides operators to the reference station setting points using the mobile terminal.

[0032] The method according to the present invention for locating the position of a reference station setting point for a reference station set near a self-propelled construction machine includes the following method steps: The reference station location dataset is imported from an external data source into a reference station location data storage device. The reference station location data describes the reference station location points of multiple reference stations positioned near the movement path of the self-propelled construction machinery. The calculation and evaluation unit creates one or more machine-readable datasets for the reference station location datasets stored in the reference station location data storage device.

[0033] The machine-readable dataset can be machine-readable code, specifically a QR code, wherein the method may further include the following method steps: Displaying a machine-readable code or at least one of multiple machine-readable codes on the display of the DGNSS rover unit, and Using a mobile terminal, specifically a smartphone, scan at least one of one or more machine-readable codes.

[0034] For each reference station location data set stored in the reference station location data storage device, a QR code containing the location data of its respective reference station can be generated. All reference station location data can then be displayed on a monitor.

[0035] A preferred embodiment of the method according to the invention provides: an online map service for setting up reference stations at a construction site, specifically an online map service with navigation functions, installed on a mobile terminal (specifically a smartphone).

[0036] Alternatively, a transmitting unit, specifically an NFC transmitting unit based on RFID technology, can be used to transmit a machine-readable dataset or at least one of a plurality of machine-readable datasets to a mobile terminal. Attached Figure Description

[0037] Exemplary embodiments of the present invention will be explained in more detail below with reference to the accompanying drawings.

[0038] In the attached diagram: Figure 1 This is a side view of a self-propelled construction machine. Figure 2 yes Figure 1 A floor plan of a self-propelled construction machine. Figure 3 A simplified schematic diagram illustrates the DGNNS rover unit and reference station of the self-propelled construction machinery. Figure 4 The diagram shows a self-propelled construction machine moving along a path, with a reference station positioned at the first location. Figure 5 The diagram shows a self-propelled construction machine moving along a path, with a reference station positioned at a second location. Figure 6 The diagram shows a self-propelled construction machine moving along a path, with a reference station positioned at a third location. Figure 7 The diagram shows a self-propelled construction machine moving along a path, with a reference station positioned at the fourth location. Figure 8 This is a screen view of the display installed on the self-propelled construction machinery, showing the QR code of the reference station setting point, and... Figure 9 An alternative implementation of the DGNNS mobile station unit for self-propelled construction machinery is shown. Detailed Implementation

[0039] Figure 1 and Figure 2 The side view and plan view show a road milling machine as an example of self-propelled construction machinery for milling road surfaces. This road milling machine is a front-loading road milling machine.

[0040] Construction machinery I includes a frame 2 supported by a chassis 1, and a working device 3 arranged on the frame, by means of which the work required for the construction project can be performed. The working device 3 has a milling drum 4 (in... Figure 1 (Shown only schematically) The milling drum is arranged in a milling drum housing 5. The milling drum housing 5 is closed on both sides by edge guards 50. Above the milling drum housing 5, there is an operator station 6 arranged on a frame, with a control panel 7 for the machine operator. The control panel 7 includes a display unit 8 with a display 8A, which can be designed as a touch screen.

[0041] The self-propelled construction machinery I may have a left front traveling mechanism 10A, a right front traveling mechanism 10B, a left rear traveling mechanism 11A, and a right rear traveling mechanism 11B in the working direction A. These traveling mechanisms are respectively associated with left front lifting devices 12A and right front lifting devices 12B, as well as left rear lifting devices 13A and right rear lifting devices 13B in the working direction A, so that the height and tilt of the frame 2 relative to the ground B can be changed by retracting or extending the lifting devices. Furthermore, the self-propelled construction machinery I may have a transport device 9 for transporting milling materials.

[0042] Construction machinery I is controlled by a central control and computing unit (not shown in the figure) based on construction machinery position data, which describes the position of a reference point R on the construction machinery in a coordinate system independent of the construction machinery. To determine the position of the reference point R on construction machinery I, a position determination system II is provided, the structure and function of which will be described in detail below.

[0043] Figure 3 A simplified schematic diagram of a location determination system II is shown, which includes a GNSS rover unit 14 and a reference station 15. The GNSS rover unit 14 is mounted on construction machinery I, shown only in dashed lines, such that the GNSS rover unit 14 moves with the construction machinery I on the construction site, while the reference station 15 is located near the construction machinery.

[0044] Figures 4 to 7 The diagram illustrates the movement of construction machinery I (specifically, a road milling machine) along a designated path 16 (specifically, a road) on a construction site. The locations of reference stations along the designated path 16 are typically specified during construction site planning. Hereinafter, these locations are also referred to as reference station locations P1, P2, P3, and P4. The locations of the reference station locations on the Earth's surface are described by geographic coordinates (spherical coordinates), which can be specified in various numerical formats. In this exemplary embodiment, the locations of the site reference station locations are described in decimal form using latitude (φ) and longitude (Δ).

[0045] During construction site planning, reference station location data (latitude (φ) and longitude (Δ)) are determined for all reference stations set along the route, and the location of the corresponding reference station setting point P1, P2, P3, or P4 is described. This reference station location data is compiled into a reference station location dataset, which will be provided to surveyors and the control systems of construction machinery.

[0046] Before the actual construction work begins, surveyors use traditional surveying methods to determine the locations of reference station setup points P1, P2, P3, and P4 on the construction site, and mark these points with markers so that they can be found again later to set up the reference stations. Figures 4 to 7 In the diagram, reference station setting points P1, P2, P3, and P4 are marked with crosses, and reference station 15 will be set at these points.

[0047] As construction machinery I moves along path 16, reference station 15 is repositioned multiple times, ensuring that the reference station always remains near construction machinery I 17, within a specific radius.

[0048] DGNSS rover unit 14 includes: at least one GPS antenna 14A, positioned at reference point R of construction machinery I ( Figure 2 ); calculation and evaluation unit 18; and bidirectional transmission and reception unit 19 ( Figure 3 Reference station 15 includes a GPS antenna 20, a calculation and evaluation unit 21, and a two-way transmit and receive unit 22. DGNSS rover unit 14 and reference station 15 communicate via transmit and receive units 19 and 22, which are designed to represent known transmission links capable of operating according to known transmission methods (RF transmitter / receiver, WLAN, Bluetooth, etc.).

[0049] The GPS antenna 20 of reference station 15 receives satellite signals from multiple satellites of at least one satellite navigation system S. The calculation and evaluation unit 21 of the reference station is configured to determine the position of reference station 15 in a coordinate system independent of the construction machinery from the satellite signals with an accuracy corresponding to that of the GPS system. This position is referred to as the reference station position determined or measured by the reference station. The calculation and evaluation unit 21 of reference station 15 is also configured to calculate a correction signal using known methods based on the actual reference station position and the reference station position determined by the reference station. For this purpose, in addition to the measured reference station position, the actual reference station position must also be known. This corresponds to the known position of the designated reference station setting point.

[0050] The DGNSS rover unit 14 also receives satellite signals from multiple satellites of the Global Navigation Satellite System S via the GPS antenna 14A. Additionally, the DGNSS rover unit 14 receives correction signals from the reference station 15 via the transmit and receive unit 19. The calculation and evaluation unit 18 of the GNSS rover unit 14 is configured to determine, with greater accuracy, construction machinery position data describing the (precise) position of the reference point R on the construction machinery I in a coordinate system (X, Y, Z) independent of the construction machinery, based on known methods and the satellite signals and correction signals.

[0051] In addition, the DGNSS rover unit 14 has a reference station location data storage device 23, in which a reference station location dataset containing reference station location data is stored.

[0052] In this exemplary embodiment, the reference station location dataset created during planning is provided in an external data source 24 (specifically an external server) and scanned into the reference station location data storage device 23 via an interface 25 configured in the reference station location data storage device 23.

[0053] Before actual construction work begins, reference station 15 is set at the first reference station setting point. For this purpose, operators must be able to locate the reference station setting point P1 previously marked on the construction site. Figure 4 During the construction work, reference station 15 will be repositioned several times. Therefore, operators must be able to locate other reference station settings P2, P3, and P4. Figures 5 to 7 ).

[0054] In this exemplary embodiment, the calculation and evaluation unit 18 of the DGNSS rover unit 14 reads a reference station location dataset containing reference station location data (latitude (φ) and longitude (Δ)) for all reference station set points P1, P2, P3, and P4 from the reference station location data storage device 23. The calculation and evaluation unit 18 of the DGNSS rover unit 14 is configured to create QR codes containing the corresponding reference station location data for all reference station location data. In this exemplary embodiment, the DGNSS rover unit 14 is assigned a display 8A on the display unit 8 on the control panel 7 of the self-propelled construction machinery. The DGNSS rover unit 14 may also be equipped with a different display, not at the operator station 6, but for example, on one side of the frame 2 for easy access by the operator. The calculation and evaluation unit 18 of the DGNSS rover unit 14 is configured to display all QR codes on the display.

[0055] Figure 8A screen view of a display (8A) mounted on a self-propelled construction machine is shown. The display (8A) shows four zones F1, F2, F3, and F4, each zone assigned a reference station setting point P1, P2, P3, and P4. The geographic coordinates (latitude (φ) and longitude (Δ)) of each reference station setting point P1, P2, P3, and P4 in zones F1, F2, F3, and F4 are represented in decimal form. In addition to the geographic coordinates, a corresponding QR code containing the geographic coordinates is also displayed.

[0056] The calculation and evaluation unit 18 of the DGNSS rover unit 14 is configured to generate QR codes containing website URLs for reference station setup points P1, P2, P3, and P4, respectively. This will be explained below with reference to the first reference station setup point P1.

[0057] In the first region F1, the geographic coordinates of the first reference station setting point P1 are shown below: Latitude: 38.900049 (Latitude (φ)) Longitude: -82.568967 (longitude (Δ)) The above information can also be specified in hexadecimal format as follows: 38°54'00.2”N 82°34’08.3”W Therefore, location data is provided to operators in a readable format.

[0058] The following information was decoded from the QR code of region F1: Google.de / maps / ?q=38.900049,-82.568967 The above information is a string that must be entered into a browser to access a website (URL). Therefore, an operator can easily locate the first reference station setting point P1 using mobile terminal 26, specifically using a smartphone with an online map service (e.g., Google Maps from Google LLC) that includes navigation capabilities. To access this map service, the operator uses smartphone 26 to read a first QR code. For this purpose, the operator can use the smartphone's camera function, which typically also allows QR code reading. After reading the QR code, a map provided by the map service opens, displaying the location of reference station setting point P1 in, for example, satellite imagery. In this exemplary embodiment, the map service also includes navigation functionality. The operator can therefore use the navigation function to reach the reference station setting point of the first reference station.

[0059] In this link, the reference station initialization required after setting up reference station 15 is described below. In this exemplary embodiment, the initialization may be performed by the reference station itself.

[0060] The calculation and evaluation unit 18 of the DGNSS rover unit 14 and the calculation and evaluation unit 21 of the reference station 15 are configured to perform the following method steps to initialize the reference station.

[0061] Reference station 15, located at reference station setup points P1, P2, P3, or P4, receives satellite signal S and transmits measured position data to DGNSS rover unit 14 via transmit and receive unit 22. This data describes the reference station position determined by the reference station. Figure 3 , Figures 4 to 7 These location data are received by the DGNSS rover unit 14 via the transmit and receive unit 19. Based on a comparison of the reference station location data contained in the reference station dataset with the reference station location determined by reference station 15, the DGNSS rover unit 14 determines the actual reference station location and transmits location data describing the actual reference station location to reference station 15 via the transmit and receive unit 19. Reference station 15 receives this location data via the transmit and receive unit 22. Once reference station 15 knows its actual location, its calculation and evaluation unit 22 calculates a correction signal and sends this correction signal to the DGNSS rover unit 14. The calculation and evaluation unit 18 of the DGNSS rover unit 14 then calculates construction machinery location data describing the precise location of reference point R on the construction machinery based on the satellite signal and the correction signal.

[0062] The comparison used to select associated location data is described in detail in DE 10 2022 124 484 A1.

[0063] Figure 9 An alternative implementation of DGNSS rover unit 14' is shown, which is related to... Figure 3 The difference in the DGNSS rover unit 14 shown is that the DGNSS rover unit 14' has an NFC transmitting unit 27 based on RFID technology. Figure 9 In the accompanying drawings, corresponding parts use the same reference numerals. In an alternative embodiment, the mobile terminal 26' is an NFC receiving unit (NFC reader) based on RFID technology. In an alternative embodiment, the transmission of machine-readable data sets can be performed by bringing the mobile terminal 26' near the NFC transmitting unit 27'. The NFC receiving unit can be part of a smartphone, so that even in an alternative embodiment, the smartphone can be used to read data, and other functions of the smartphone can be used for further data processing.

Claims

1. A self-propelled construction machine comprising a frame (2) supported by a traveling mechanism (10A, 10B, 11A, 11B), and a working device (3) for working on soil or constructing structures on a construction site, wherein, The self-propelled construction machinery includes a DGNSS rover unit (14) for receiving satellite signals from a global navigation satellite system and correction signals from a reference station (15) located near the self-propelled construction machinery. The DGNSS rover unit (14) has a calculation and evaluation unit (18) configured to determine construction machinery position data, based on the satellite signals and the correction signals from the reference station (15), describing the position of a construction machinery reference point (R) on the construction machinery (I) in a coordinate system (X, Y, Z) independent of the construction machinery. The calculation and evaluation unit (18) of the DGNSS rover unit (14) has a reference station location data storage device (23) for storing a reference station location dataset containing reference station location data, wherein the reference station location data describes the reference station setting point of each of a plurality of reference stations (15) located near the path (16) of the self-propelled construction machinery, and Its features are, The calculation and evaluation unit (18) of the DGNSS rover unit (14) is configured to generate a machine-readable dataset or multiple machine-readable datasets for the reference station location dataset stored in the reference station location data storage device (23).

2. The self-propelled construction machinery according to claim 1, characterized in that, The machine-readable dataset is a machine-readable code, specifically a QR code, and the DGNSS rover unit (14) is equipped with a display (8A), wherein the DGNSS rover unit (14) is configured to display a machine-readable code on the display (8A), or to display at least one of the plurality of machine-readable codes on the display (8A).

3. The self-propelled construction machinery according to claim 2, characterized in that, The calculation and evaluation unit (18) of the DGNSS rover unit (14) is configured to generate machine-readable code containing reference station position data of their respective reference stations for all reference station position data in the reference station position data storage device (23), or The calculation and evaluation unit (18) of the DGNSS rover unit (14) is configured to generate machine-readable code containing reference station position data of each reference station for all reference station position data of the reference station position dataset stored in the reference station position data storage device (23), and the calculation and evaluation unit (18) of the DGNSS rover unit (14) is configured to display the machine-readable code of all reference station position data on the display (8A).

4. The self-propelled construction machinery according to claim 1, characterized in that, The DGNSS rover unit (14) is equipped with a transmitting unit (27), specifically an NFC transmitting unit based on RFID technology, wherein the DGNSS rover unit (14) is configured to transmit at least one of the machine-readable datasets or the plurality of machine-readable datasets to a mobile terminal (26') via the transmitting unit (27).

5. The self-propelled construction machinery according to any one of claims 1 to 4, characterized in that, The calculation and evaluation unit (18) of the DGNSS rover unit (14) is configured to generate a machine-readable dataset containing the URLs of websites.

6. The self-propelled construction machinery according to any one of claims 1 to 5, characterized in that, The reference station location data storage device (23) is equipped with an interface (25) for importing reference station location data from an external data source (24).

7. An apparatus comprising a self-propelled construction machine according to any one of claims 1 to 6, the self-propelled construction machine having a frame (2) supported by a walking mechanism (10A, 10B, 11A, 11B) and a working device (3) for performing work on the ground or constructing structures on a construction site, the apparatus further having a mobile terminal (26), specifically a smartphone, on which online map services can be used.

8. The apparatus according to claim 7, characterized in that, The mobile terminal (26) is configured to activate the online map service after scanning a QR code.

9. The apparatus according to claim 8, characterized in that, An online map service with navigation function is installed on the mobile terminal (26).

10. A method for locating a reference station setting point for a reference station located near a self-propelled construction machine, wherein, The construction machinery (I) includes a frame (2) supported by a traveling mechanism (10A, 10B, 11A, 11B) and a work device (3) for performing ground operations or constructing structures on a construction site. It also includes a DGNSS rover unit (14) for receiving satellite signals from a global navigation satellite system and correction signals from a reference station (15) located near the self-propelled construction machinery. The DGNSS rover unit (14) has a calculation and evaluation unit (18) configured to determine construction machinery position data describing the position of a construction machinery reference point (R) on the construction machinery (I) in a coordinate system (X, Y, Z) independent of the construction machinery, based on the satellite signals and the correction signals from the reference station, using the following method steps: The reference station location dataset is imported from an external data source (24) into the reference station location data storage device (23), wherein the reference station location data describes the reference station setting points (P1, P2, P3, P4) of each of a plurality of reference stations set near the path (16) of the self-propelled construction machinery, and The calculation and evaluation unit (18) creates one or more machine-readable datasets for the reference station location dataset stored in the reference station location data storage device (23).

11. The method according to claim 10, characterized in that, The machine-readable dataset is machine-readable code, specifically a QR code, wherein the method further includes the following method steps: Displaying one machine-readable code or at least one of the plurality of machine-readable codes on the display (8A) provided in the DGNSS rover unit (14), and Scan at least one of the machine-readable codes or the plurality of machine-readable codes via a mobile terminal (26), specifically a smartphone.

12. The method according to claim 10, characterized in that, Using a transmitting unit (27), specifically an NFC transmitting unit based on RFID technology, the machine-readable dataset or at least one of the plurality of machine-readable datasets is transmitted to a mobile terminal (26).

13. The method according to any one of claims 10 to 12, characterized in that, The mobile terminal (26) can use online map services to locate the reference station setting points (P1, P2, P3, P4) at the construction site.

14. The method according to claim 13, characterized in that, An online map service with navigation function is installed on the mobile terminal (26).

15. The method according to any one of claims 10 to 14, characterized in that, The machine-readable code contains the URL of the website.

Images