Self-propelled construction machine and system comprising self-propelled construction machine

Abstract

The utility model relates to a self-propelled construction machine and a system comprising the self-propelled construction machine, the self-propelled construction machine, especially a road milling machine, is used for operating on the ground or erecting a structure on the ground in a previous operation process, and then another construction machine is used for carrying out another operation process. The building machine comprises a mobile radio communication device, a wireless communication device and a control device, a GNSS receiver; gNSS evaluation means or mobile radio evaluation means arranged to determine at least one evaluation variable B, which evaluates the quality of the GNSS signal or mobile radio signal at a particular location, at each of a plurality of locations in the terrain during the advancement of the construction machine; and GNSS evaluation variable acquisition means or mobile radio evaluation variable acquisition means arranged to generate a spatial telemetry data set describing signal quality at a particular location in the terrain using the location data determined by the GNSS receiver at the particular location.

Description

Technical Field

[0001] The utility model relates to a self-propelled construction machine, which is used to work on the ground or erect a structure on the ground during a previous operation process, and another operation process is performed by another construction machine after the previous operation process. In addition, the utility model relates to a system including a self-propelled construction machine and a cloud storage, wherein the self-propelled construction machine is used to work on the ground or erect a structure on the ground during a previous operation process, and another operation process is performed by another construction machine after the previous operation process. The utility model also relates to a method for using a self-propelled construction machine to work on the ground or erect a structure on the ground during a previous operation process, and another operation process is performed by another construction machine after the previous operation process. Background Art

[0002] Self-propelled construction machines are characterized in that they have a working device arranged on a machine frame for working on the ground, for example for milling the ground or erecting structures on the ground, such as a roadway. In the following, the ground is understood to mean the subsurface layer, which can also be a (damaged) road to be worked. The self-propelled construction machine can be a road milling machine, a regenerator, a soil stabilizer, a bulldozer, a road roller, a grader, a road paver, a slipform paver, or a feeder. In the case of a road milling machine, for example, the working device comprises a milling drum equipped with a milling tool, which can be used to remove material of a specified working width. For example, in the case of a road paver, the working device comprises an ironing plate that can be used to place material for the roadway.

[0003] In the case of self-propelled construction machines, largely automatic control of the construction machine is sought without significant intervention by the vehicle driver.

[0004] Known methods for controlling a self-propelled construction machine presuppose the use of a guide wire, with which the trajectory is specified. However, a self-propelled construction machine can also be controlled using a total station for positioning and / or a global navigation satellite system (GNSS) comprising a plurality of satellites.

[0005] Controlling construction machines using global navigation satellite systems (GNSS) has proven successful in practice. However, such control of construction machines requires receiving signals from the GNSS. In practice, however, the reception of satellite signals can be disturbed, for example by shadows caused by trees or building covers, with the result that the GNSS cannot determine the position of the construction machine in the terrain or cannot determine the position of the construction machine with sufficient accuracy.

[0006] However, for precise positioning, not only the signal strength of the satellite signals is crucial, but also other factors. Positioning using GNSS is based on determining the distance to the satellite by measuring the signal runtime. Therefore, the accuracy of the positioning depends on the accuracy of the position (satellite constellation) and the time measurement (runtime) of the available satellites relative to each other. Therefore, all factors that determine the accuracy of the positioning have an impact on the quality of the GNSS signals. In the following, the quality of the GNSS signals is understood to mean a quality standard that is suitable for positioning accuracy. Therefore, accurate positioning requires high-quality GNSS signals. GNSS signals are also understood to mean all correction signals that can improve the positioning accuracy.

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

[0008] In order to transmit digital signals (data) between digital terminals over long transmission paths, known construction machines usually have a mobile radio communication device. In practice, it has been found that the reception of mobile radio signals on construction sites can also be disturbed. In this respect, the quality of the mobile radio signal is also crucial for the automatic control of the construction machine. The mobile radio communication device also allows the reception of correction signals of DGNSS (Differential GNSS) if the correction signals are transmitted via GSM (Global System for Mobile Communications).

[0009] Various construction machines are used on construction sites, which form a construction machine system and whose operation must be considered as a whole. Known road milling machines can, for example, be used to remove damaged road pavement layers in a preceding operation. In a subsequent operation, which does not necessarily have to be carried out on the same day, a road paver can then be used to apply a binding layer, such as asphalt.

[0010] The automatic control of construction machines used in subsequent work processes using GNSS and the use of mobile radio networks require high-quality GNSS signals or mobile radio signals.

[0011] If the quality of the GNSS signal or the mobile radio signal is insufficient, it is necessary to take appropriate technical precautions for the subsequent work process. For example, known repeaters for amplifying GSM mobile radio signals can be set up on the construction site. However, since there are no repeaters available for GNSS signals, changes must be made to alternative systems. In this case, a ground positioning system, such as a total station, can be used. Utility Model Content

[0012] The purpose of the utility model is to provide technical means by which the planning of construction projects can be simplified, the operating efficiency of the construction machine as a whole can be improved, downtime can be avoided, and costs can be saved. In particular, the purpose of the utility model is to provide a construction machine, and in particular a road milling machine, a regenerator, a soil stabilizer, a bulldozer, a road roller, a grader, a road paver, a slipform paver, or a feeder, which allows the quality of a GNSS signal or a mobile radio signal on a construction site to be determined for a subsequent operation process with another construction machine.

[0013] According to the present invention, these objects are achieved by the following features.

[0014] The embodiments of the utility model described below may include one or more features or feature combinations mentioned below. If the indefinite article should not be understood as a clear indication of only one use, the features represented by the indefinite article may also appear multiple times. The representation of features by numbers such as "first and second" does not exclude that these features may appear more times than the numbers indicated by the numbers. In the description of all embodiments, the expression "may" should also be understood as "preferably" or "conveniently".

[0015] According to the self-propelled construction machine of the utility model, in particular a road milling machine, a regenerator, a soil stabilizer, a bulldozer, a road roller, a grader, a road paver, a slipform paver, or a feeder, which is used to work on the ground or erect a structure on the ground in a previous work process, and to perform another work process with another construction machine after the previous work process, the construction machine has a machine frame supported by a traveling mechanism, on which a working device is arranged, the working device can be, for example, a milling drum or a milling / mixing rotor, and at least one drive device for driving the traveling mechanism, so that the construction machine can perform translational and / or rotational movements in the terrain and work on the ground or erect a structure on the ground, such as a roadway. If the working device needs to drive, for example, a milling drum, the drive device can also drive the working device. In addition, the construction machine includes a mobile radio communication device, which has a mobile radio antenna for sending and receiving mobile radio signals and a computing unit for processing mobile radio signals. The mobile radio communication device is understood to mean all devices that can be used to establish a mobile radio connection in order to send signals (data). Furthermore, the construction machine has a GNSS receiver, which comprises an antenna arranged at a reference point of the construction machine, for receiving GNSS signals of a plurality of satellites of a global navigation satellite system, and a computing unit for processing the GNSS signals and outputting position data describing the position of the reference point. In the present application, GNSS signals are also understood to mean correction signals (correction data), with which errors in positioning can be corrected in real time. Positioning can take place in a two-dimensional or three-dimensional coordinate system, which can be a coordinate system independent of the construction machine.

[0016] According to one embodiment of the construction machine of the utility model, a GNSS evaluation device is provided, which is configured to determine, at multiple locations in the terrain during the advancement of the construction machine, at least one GNSS evaluation variable for evaluating the quality of the GNSS signal at a specific location, i.e., a variable that is a characteristic of the quality of the GNSS signal, such as signal strength. The GNSS evaluation variable may also be a variable that describes the quality of a correction signal or correction data.

[0017] Furthermore, the construction machine according to the utility model is characterized by a GNSS evaluation variable acquisition device, which is configured to use the position data determined by the GNSS receiver at a specific position in the terrain to generate a spatial (geo-referenced) GNSS telemetry data set describing the signal quality at the specific position. The GNSS evaluation variable acquisition device can generate a GNSS telemetry data set, in which the GNSS signals received by the GNSS receiver and the GNSS evaluation variables generated therefrom are detected, and spatial information (geo-referenced) is assigned to the GNSS evaluation variables based on the GNSS signals. The GNSS telemetry data set may also contain data (timestamp) describing the time (date and time) at which the quality of the GNSS signal is evaluated, so that the possible dependence of the positioning accuracy on time can also be considered in further evaluation. The GNSS telemetry data set may also contain data describing whether the correction data is received from a geosynchronous satellite or from a ground station. The GNSS evaluation variables contained in the GNSS telemetry data set may also describe the quality of the correction data.

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

[0019] The GNSS evaluation variable acquisition device interacts with the mobile radio communication device so that the spatial GNSS telemetry data set can be sent to the cloud storage of the Internet service provider.

[0020] The GNSS telemetry data set generated by the GNSS evaluation variable acquisition device may comprise unprocessed raw data which still has to be processed for further use with suitable data processing means. However, the computing unit of the GNSS evaluation variable acquisition device may also be arranged to process data on a construction machine.

[0021] The planning of a construction project can be carried out on the basis of a GNSS telemetry data set provided in a cloud storage, from which it can be downloaded and evaluated. The spatial GNSS telemetry data set can thus be used at any time for subsequent work processes, for example in a planning office. Since the GNSS telemetry data set is already available before the start of the subsequent work process, the precautions required for the subsequent work process can be made in good time. The GNSS telemetry data set can also be sent to a subsequent construction machine, i.e. uploaded to the cloud storage and downloaded from the cloud storage by the subsequent construction machine, in order to perform interventions in the machine control depending on the quality of the GNSS signal. A decisive advantage lies in the fact that the construction machine according to the invention is not only used to carry out work on the ground or to erect structures on the ground, but also for acquiring GNSS telemetry data sets.

[0022] The construction machine according to the present invention may be part of a system for working on the ground, the system comprising a construction machine according to the present invention, which is used to work on the ground or erect a structure on the ground in a previous working process, after which another working process is performed using another construction machine; a cloud storage of an Internet service provider (which may also be the manufacturer of the construction machine); and a data processing device with a mobile radio communication device for establishing a mobile radio connection. The GNSS telemetry data set can be read out from the cloud storage using the data processing device, and the data of the GNSS telemetry data set can be processed using the data processing device. The data of the GNSS telemetry data set can be visualized on a screen of the data processing device. The data processing device may be, for example, a computer, a notebook computer or a mobile radio device. The corresponding software (app) can be downloaded to these devices.

[0023] The GNSS evaluation variable acquisition device can be configured to continuously acquire at least one GNSS evaluation variable that evaluates the quality of the GNSS signal at a specific position after traveling a predetermined distance or after a predetermined time interval in order to generate a spatial GNSS telemetry data set during the advancement of the construction machine. In this case, path points located at a specific distance on the left and right sides of the track in the working direction can be assigned to the same evaluation variable. Therefore, a path with a predetermined width, such as a path to be operated by a construction machine (whose width (lane width) is known) can be divided into individual areas, each area being assigned a GNSS evaluation variable. The data can be stored in the memory in the form of a table. Each area has a certain width, which can correspond to the track width, and a predetermined length caused by a predetermined distance or a predetermined time interval. It is also possible to detect signals continuously during the advancement of the construction machine, rather than only detecting signals at certain positions.

[0024] The GNSS evaluation variable acquisition device is configured to assign colors to the values ​​of at least one GNSS evaluation variable evaluating the quality of the GNSS signal at a specific location (heat mapping), so that the values ​​of the at least one GNSS evaluation variable at a specific location are represented as color-coded areas (heat mapping) in a graphical representation of the area to be processed by the construction machine. The data of the GNSS telemetry data set can be combined in an image file in a known format, which is uploaded to a cloud storage. No further processing of the data is then necessary. However, it is also possible to first generate image data for visualization using external data processing devices.

[0025] The acquisition of data by the operator (planner) can be facilitated in the following way: the GNSS evaluation variable acquisition means is arranged to evaluate at least one GNSS evaluation variable considering at least one evaluation criterion for generating the spatial GNSS telemetry data set, the at least one GNSS evaluation variable evaluating the quality of the GNSS signal at a specific location, wherein the GNSS evaluation variable acquisition means is configured to determine whether the at least one GNSS evaluation variable meets the at least one evaluation criterion at the specific location, or to determine whether the at least one GNSS evaluation variable does not meet the at least one evaluation criterion. Suitable criteria may for example be criteria of exceeding or falling below a limit value. However, more complex signal analysis may also be used to evaluate the evaluation variable.

[0026] The GNSS evaluation device may be configured to determine a value related to the signal strength of a GNSS signal of a satellite of the global navigation satellite system and / or a value related to the satellite geometry as a GNSS evaluation variable for evaluating the quality of the GNSS signal. Various evaluation variables for evaluating the signal quality are known. In addition to the signal strength of the individual satellites, the evaluation variable may be, for example, a DOP (Dilution of Precision) value (H (horizontal) DOP or V (vertical) DOP) or a GDOP (Geometric Dilution of Precision) value, which is a measure of the scatter width of the measured values ​​that depends on the satellite geometry in the GNSS.

[0027] Another aspect of the invention is to evaluate the quality of mobile radio signals by means of a construction machine. This aspect is essentially independent of the aspect of evaluating GNSS signals. However, it is advantageous if the construction machine allows evaluation of both signals.

[0028] According to an embodiment of the construction machinery of the utility model, the construction machinery includes a mobile radio evaluation device and a mobile radio evaluation variable acquisition device; the mobile radio evaluation device is configured to determine at least one mobile radio evaluation variable for evaluating the quality of the mobile radio signal at a specific location at multiple locations in the terrain during the advancement of the construction machinery; the mobile radio evaluation variable acquisition device is configured to generate a spatial mobile radio telemetry data set describing the quality of the mobile radio signal at the corresponding location using location data determined by a GNSS receiver at a specific location in the terrain.

[0029] The mobile radio telemetry data set may also contain data (timestamp) describing the time (date or time) when the quality of the mobile radio signal was assessed, so that during further evaluation also possible dependencies of the signal quality on time may be taken into account.

[0030] The mobile radio evaluation variable acquisition device interacts with the mobile radio communication device so that the spatial mobile radio telemetry data set is sent to the cloud storage of the Internet service provider.

[0031] The mobile radio evaluation variable acquisition device can be configured to acquire at least one mobile radio evaluation variable determined by the mobile radio evaluation device after a predetermined distance has been traveled or after a predetermined time interval in order to generate a spatial mobile radio telemetry data set during the advancement of the construction machine.

[0032] Furthermore, the mobile radio evaluation variable acquisition device can be configured to assign a color to the value of at least one mobile radio evaluation variable which evaluates the quality of the mobile radio signal at the corresponding location, so that the value of at least one mobile radio evaluation variable at a specific location is displayed as a color-coded area in a graphical representation of the area to be processed by the construction machine.

[0033] In addition, the mobile radio evaluation parameter acquisition device can be configured to evaluate at least one mobile radio evaluation variable for evaluating the quality of the mobile radio signal at a corresponding location considering at least one evaluation criterion in order to generate a space mobile radio telemetry data set, wherein the mobile radio evaluation variable acquisition device is configured to determine whether at least one mobile radio evaluation variable satisfies the at least one evaluation criterion at the corresponding location, or to determine whether the at least one evaluation parameter does not satisfy the at least one evaluation criterion.

[0034] A value related to the signal strength of the mobile radio signal and / or a value related to the runtime of the mobile radio signal and / or a value related to the upload rate and / or download rate of the mobile radio signal can be determined as a mobile radio evaluation variable for evaluating the quality of the mobile radio signal. A value describing the signal strength is, for example, a known RSSI (received signal strength) value. The mobile radio evaluation variable can also describe a mobile radio standard, such as LTE, 3G, 5G, etc.

[0035] The GNSS evaluation variable and the mobile radio evaluation variable may also describe a state in which no GNSS signal or mobile radio signal is received at all. If the GNSS evaluation variable or the mobile radio evaluation variable is signal strength, this state may be inferred if the signal strength is equal to 0. Therefore, the specific telemetry data set also describes this state.

[0036] In the event of an outage of mobile radio reception on the entire construction site, GNSS or mobile radio telemetry data sets cannot be uploaded to the cloud storage. However, if the telemetry data sets are not available in the cloud, at least this total failure can be inferred. Otherwise, the corresponding telemetry data records can be uploaded to the cloud storage when the mobile radio reception is not interrupted.

[0037] In the event of an interruption in the reception of GNSS signals during the advancement of the construction machine, a GNSS telemetry data set or a mobile radio telemetry data set containing spatial data for the relevant road section cannot be generated, since georeferencing is not possible in this road section. However, the telemetry data set or the mobile radio telemetry data set contains information at waypoints at which GNSS signals are no longer received (i.e., the signal strength is 0) during the advancement of the construction machine, as well as information at waypoints at which GNSS signals are received again (i.e., the signal strength is again greater than 0). For example, if a mobile radio signal is received, but no GNSS signal is received, waypoints for evaluating the mobile radio signal can be determined based on additional information (data) and / or additional systems so that georeferencing can still be performed. For example, the position of the construction machine can be approximated by taking into account known positions at which signal reception fails or restarts. The GNSS evaluation variable acquisition device can also interact, for example, with an inertial navigation system (INS) having an inertial measurement unit (IMU) with several acceleration and rotation rate sensors in order to continuously determine the spatial movement of the construction machine and thereby its corresponding position. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Hereinafter, exemplary embodiments of the present invention are described in detail with reference to the accompanying drawings.

[0039] Shows:

[0040] Figure 1is a side view of an exemplary embodiment of a construction machine according to the present utility model;

[0041] Figure 2 It is a highly simplified schematic diagram of a construction machine;

[0042] Figure 3A It is a construction machine when working on the ground in the first working step;

[0043] Figure 3B It is a construction machine when working on the ground in the second working step;

[0044] Figure 4 is a table with data of a spatial GNSS telemetry dataset; and

[0045] Figure 5 It is a visualization of the GNSS telemetry data set on the screen of the data processing device. DETAILED DESCRIPTION

[0046] Figure 1 A side view of a road milling machine is shown as an example of a self-propelled construction machine 1 .

[0047] The construction machine 1 has a machine frame 2 carried by a chassis 3. The chassis 3 has two steerable rear running gears 4A and two steerable front running gears 4B, which are fastened to rear lifting columns 5A and front lifting columns 5B, and the construction machine 1 can perform translational and / or rotational movements on the terrain. The construction machine 1 has a working device 6 for working on the ground. In the present exemplary embodiment, the working device is a milling drum equipped with a milling tool. Only in Figure 1 The drive device 7 shown in outline in FIG. 1 is provided for driving the travel mechanisms 4A, 4B and the working device 6. The working direction (travel direction) of the construction machine 1 is indicated by an arrow A.

[0048] Figure 2 yes Figure 1 Detailed description of the invention Figure 1 is a highly simplified schematic illustration of a construction machine 1 of FIG. Corresponding components are provided with the same reference numerals.

[0049] In this embodiment, the construction machine 1 has an automatic control using a global navigation satellite system (GNSS). This control belongs to the prior art. The control device 8 for controlling the drive device 7 of the construction machine 1 controls the travel mechanism 4A, 4B so that the reference point R of the construction machine moves along a specific path W, i.e. along the path or at a distance (equidistant) from the path. The reference point R can be any point on the construction machine. The control device 8 is arranged to control the steerable travel mechanism 4A, 4B so that the desired position P described by the target distance soll The actual position P with reference point R istThe distance d between them is the smallest. Figure 2 The actual position P is shown ist and the target position P on the right hand side of the image soll Magnified view of the deviation d. The reference point R of the construction machine 1 on the left-hand side of the image is located at a target distance W. The target distance W can describe the course of a road, for example.

[0050] The actual position P of the reference point R ist The determination is carried out using a GNSS with a GNSS receiver 9 having an antenna 9A arranged at a reference point R for receiving GNSS signals from a plurality of satellites 10 of a global navigation satellite system (GNSS) and a computing unit 9B for processing the GNSS signals and outputting position data describing the position of the reference point in a coordinate system (x, y, z) independent of the construction machine. Such a GNSS receiver belongs to the prior art. The GNSS signals received by the GNSS receiver may also include correction signals for improving the positioning accuracy (DGNSS).

[0051] In order to establish a mobile radio connection to a mobile radio unit 11 of a mobile radio provider, the construction machine 1 has a first mobile radio communication device 12, which has a mobile radio antenna 12A for transmitting and receiving mobile radio signals and a computing unit 12B for processing the mobile radio signals. Such mobile radio communication devices also belong to the prior art. If correction signals are available via GSM, correction signals for improving the positioning accuracy can also be received by the mobile radio communication device and these correction signals will be used.

[0052] Furthermore, the construction machine 1 comprises a GNSS evaluation device 13 and a GNSS evaluation variable acquisition device 14, and / or a mobile radio evaluation device 15 and a mobile radio evaluation variable acquisition device 16, each of which can have a separate computing unit 13A, 14A, 15A, 16A for processing data. The GNSS evaluation device and the GNSS evaluation variable acquisition device, or the mobile radio evaluation device and the mobile radio evaluation variable acquisition device, can also have a common computing unit. The computing unit can also be a component of a central computing and control unit for controlling the operation of the construction machine. The hardware component can include, 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), an integrated circuit composed of logic elements (FPGA) or other integrated circuits (IC) in order to perform the computing operations described below. A data processing program (software) can be run on the hardware component in order to perform the individual method steps.

[0053] Reference below Figure 3A and Figure 3Bas well as Figure 4 The functions of the GNSS evaluation means 13 and the GNSS evaluation variable acquisition means 14 are described.

[0054] Figure 3A and Figure 3B A road 17 is shown which has a left lane 17A and a right lane 17B to be worked on by a construction machine 1. In the present exemplary embodiment, the damaged road 17 is first milled with the construction machine 1. Asphalt is later laid using a road paver.

[0055] In the first operation, the construction machine 1 processes the right lane 17A ( Figure 3A ), and in the second operation, the left lane 17B is processed ( Figure 3B ).exist Figure 3A and Figure 3B , the working direction of the construction machine 1 is indicated by A, and the reference point of the construction machine at which the antenna 9A of the GNSS receiver 9 is located is indicated by R. While the construction machine 1 is advancing in the working direction A, the GNSS receiver 9 generates position data on the right half of the road 17A at least at waypoints P1.1, P1.2, P1.3, P1.4, and generates position data on the left half of the road 17B at waypoints P2.1, P2.2, P2.3, P2.4.

[0056] The GNSS evaluation device 13 is arranged to determine at least one GNSS evaluation variable B evaluating the quality of the GNSS signal at a particular location at a plurality of locations in the terrain during the advancement of the construction machine 1. In the present exemplary embodiment, the GNSS signals are evaluated at waypoints P1.1, P1.2, P1.3, P1.4 on the right half of the road 17A and at waypoints P2.1, P2.2, P2.3, P2.4 on the left half of the road 17B as the construction machine 1 advances. Data collection is performed after a predetermined distance a has been covered or after a predetermined time interval Δt has elapsed. Thus, the carriageway may be divided into a series of regions or fields F1.1, F1.2, F1.3, F1.4 and F2.1, F2.2, F2.3, F2.4 in which data collection is performed. In the present exemplary embodiment, these regions each have the same size, since the distance a or the time interval Δt does not change during the uniform advancement of the machine, however, these regions may also have different sizes or data collection may be performed continuously.

[0057] In this exemplary embodiment, the evaluation variable B is determined from the signal strength of the GNSS signal, for example the average signal strength of the received GNSS signal, which also includes a correction signal suitable for each area F1.1, F1.2, F1.3, F1.4 and F2.1, F2.2, F2.3, F2.4. The various evaluation variables are stored in the memory in the form of a table.

[0058] However, the signal strength is only to be understood as an example of an evaluation variable B. The evaluation variable may be any variable that determines the positioning accuracy in a DGNSS. The variable may also be a variable characteristic of the correction signal quality. The present exemplary embodiment describes only the determination of one evaluation variable in each case. However, several evaluation variables may also be determined. The individual evaluation variables may also be determined from several evaluation parameters.

[0059] The GNSS evaluation variable acquisition means 14 is arranged to generate, using position data determined by the GNSS receiver 9 at specific positions (waypoints) on the terrain, a spatial GNSS telemetry data set describing the quality of the GNSS signal at the corresponding position (waypoint).

[0060] The GNSS evaluation variable acquisition device 14 is configured to assign the position data determined by the GNSS receiver 9 to the respective waypoints P1.1, P1.2, P1.3, P1.4 and P2.1, P2.2, P2.3, P2.4.

[0061] Figure 4 A table is shown in which evaluation variables B(P1.1), B(P1.2), B(P1.3), B(P1.4) or B(P2.1), B(P2.2), B(P2.3), B(P1.4) determined at waypoints P1.1, P1.2, P1.3, P1.4 on the right half of the road 17A and at waypoints P2.1, P2.2, P2.3, P2.4 on the left half of the road 17B are stored, wherein coordinates x, y, z (position data) are associated with waypoints P1.1, P1.2, P1.3, P1.4 and P2.1, P2.2, P2.3, P2.4 in a coordinate system independent of the construction machine 1. In the exemplary embodiment, these data form a GNSS telemetry data set stored in a memory.

[0062] In addition, the GNSS evaluation variable acquisition device 14 can be configured to evaluate at least one GNSS evaluation variable that evaluates the quality of the GNSS signal at a specific location, taking into account at least one evaluation criterion, in order to generate a spatial GNSS telemetry data set. In the present exemplary embodiment, the average signal strength of the GNSS signal received at a specific waypoint is compared with a predefined limit value to determine whether the GNSS evaluation variable at each waypoint meets the evaluation criterion, that is, to determine whether the average signal strength is greater than the limit value. If the average signal strength is greater than the limit value, it is assumed that no further precautions are required for subsequent asphalt laying with a road paver. However, if the average signal strength is less than the limit value, appropriate precautions must be taken. In the present exemplary embodiment, the GNSS telemetry data set includes data indicating whether the average signal strength is greater than the limit value, which is shown in the table by the symbol O (greater than the limit value) or X (less than or equal to the limit value).

[0063] The GNSS evaluation variable acquisition device 14 interacts with the first mobile radio communication device 12 so that the spatial GNSS telemetry data set is sent to the cloud storage 18 of the Internet service provider. The GNSS telemetry data set is therefore available for further processing at any time.

[0064] The construction machine 1, the cloud storage 18 and the data processing device 19, which has a second mobile radio communication device 19A for establishing a mobile radio connection, form a system for working on the ground, which allows the evaluation of GNSS signals. Mobile radio telemetry data sets can be read out of the cloud storage 18 by means of the data processing device 19 and processed for further evaluation and visualization.

[0065] In the present exemplary embodiment, the GNSS evaluation variable acquisition device 14 is further configured to assign the value of at least one GNSS evaluation variable B(P1.1), B(P1.2), B(P1.3), B(P1.4) or B(P2.1), B(P2.2), B(P2.3), B(P2.4) evaluating the quality of the GNSS signal at the corresponding position to the regions F1.1, F1.2, F1.3, F1.4 and F2.1, F2.2, F2.3, F2.4 so as to display the value of at least one GNSS evaluation variable at the corresponding position as a color-coded region or field or a region or field coded by different shading in the graphical representation of the region (road) to be worked by the construction machine 1. The GNSS evaluation variable acquisition device 14 may generate an image file containing the corresponding image data, wherein the image file is uploaded to the cloud storage 18. Then, the image file may be downloaded from the cloud storage 18 by the data processing device 19, opened and displayed on the screen 19B of the data processing device 19.

[0066] Figure 5 A graphical representation of a road to be processed in a (x, y, z) coordinate system is shown, wherein reference numerals are marked in the road 17. Figure 3A and Figure 3B Described areas or fields F1.1, F1.2, F1.3, F1.4 and F2.1, F2.2, F2.3, F2.4, in which the quality of the GNSS signal is shown. In the present exemplary embodiment, the areas F1.1, F1.2, F1.3, F1.4 and F2.1, F2.2, F2.3, F2.4 in which the signal quality is sufficient are marked with the symbol O, while the areas F1.1, F1.2, F1.3, F1.4 and F2.1, F2.2, F2.3, F2.4 in which the signal quality is insufficient are indicated by hatching. The intensity of the hatching is characterized by the density of the hatching, wherein the density of the hatching means a strong hatching.

[0067] The construction machine 1 allows not only the evaluation of the quality of the GNSS signal, but also the evaluation of the quality of the mobile radio signal received by the second mobile radio communication device 19A. The mobile radio evaluation device 15 and the mobile radio evaluation variable acquisition device 16 differ from the GNSS evaluation device 13 and the GNSS evaluation variable acquisition device 14 in that the mobile radio signal is evaluated instead of the GNSS signals of multiple satellites 10. Therefore, other evaluation variables or evaluation criteria are defined. In this exemplary embodiment, the mobile radio evaluation device 15 is configured so that a value related to the signal strength of the mobile radio signal, and / or a value related to the running time of the mobile radio signal, and / or a value related to the upload rate and / or download rate of the mobile radio signal are determined as mobile radio evaluation variables for evaluating the quality of the mobile radio signal. For example, the RSSI (received signal strength indicator) value of the mobile radio signal can be compared with a predetermined limit value sufficient for a proper mobile radio connection. It can be visualized in the same way as the GNSS signal. The areas F1.1, F1.2, F1.3, F1.4 and F2.1, F2.2, F2.3, F2.4 of the road 17 in which the signal strength of the mobile radio signal is above or below the limit value can be Figure 5 The plan view shown in FIG corresponds to the plan view shown in FIG.

[0068] The mobile radio evaluation device 15 and the mobile radio evaluation variable acquisition device 16 have a similar structure and a similar operation mode in other respects, so reference is made to the description of the GNSS evaluation variable acquisition device 13 and the GNSS evaluation variable acquisition device 14 .

[0069] The GNSS receiver 9 and the first mobile radio communication device 12 can also interact as follows.

[0070] If a correction signal is received from the first mobile radio communication device 12 in order to improve the accuracy of the positioning, the mobile radio evaluation device 15 can also determine an evaluation variable which evaluates the quality of the correction signal.

[0071] In the case where positioning is performed based on the processing of correction signals contained in the GNSS signals and received by the GNSS receiver, and it is determined that the quality of the correction signals to be processed by the GNSS receiver is insufficient, the calculation unit 9B of the GNSS receiver 9 can be configured to perform positioning not based on the correction signals received from the GNSS receiver, but based on the correction signals received from the first mobile radio communication device 12. In this case, it can also be checked whether these correction signals have sufficient quality. In a similar manner, the GNSS receiver 9 can also be arranged to perform positioning based on the correction signals received by the GNSS receiver in the case of detecting that the quality of the correction signals received by the first mobile radio communication device 12 is insufficient.

Claims

1. A self-propelled construction machine for performing work on the ground or erecting a structure on the ground during a previous work process, and performing another work process using another construction machine after the previous work process, wherein the construction machine (1) comprises: A machine frame (2) supported by a walking mechanism (4A, 4B), wherein a working device (6) is arranged on the machine frame (2); At least one driving device (7) for driving the walking mechanism (4A, 4B); a first mobile radio communication device (12) having a mobile radio antenna (12A) for transmitting and receiving mobile radio signals and a computing unit (12B) for processing the mobile radio signals; A GNSS receiver (9) comprising an antenna (9A) arranged at a reference point (R) of the construction machine, the antenna (9A) being used to receive GNSS signals of a plurality of satellites of a global navigation satellite system, and a computing unit (9B) being used to process the GNSS signals and output position data describing the position of the reference point (R); Features: Construction machinery (1) also includes: GNSS evaluation means (13) arranged to determine, at a plurality of locations in the terrain during advancement of the construction machine, at least one GNSS evaluation variable B evaluating the quality of the GNSS signal at a particular location; and GNSS evaluation variable acquisition means (14) are arranged to use the position data determined by the GNSS receiver (9) at a specific location in the terrain to generate a spatial GNSS telemetry data set, which describes the quality of the signal at the specific location; The GNSS evaluation variable acquisition device (14) interacts with the first mobile radio communication device (12) so that the spatial GNSS telemetry data set is sent to a cloud storage (18); and / or a mobile radio evaluation device (15) arranged to determine, at a plurality of locations in the terrain during advancement of the construction machine, at least one mobile radio evaluation variable B for evaluating the quality of the mobile radio signal at a particular location; a mobile radio evaluation variable acquisition device (16) configured to generate a spatial mobile radio data set describing the quality of the mobile radio signal at the specific location using the location data determined by the GNSS receiver (9) at the specific location in the terrain; wherein The mobile radio evaluation variable acquisition device (16) interacts with the first mobile radio communication device (12) so that the spatial mobile radio telemetry set is sent to the cloud storage (18).

2. The self-propelled construction machine according to claim 1, characterized in that: The mobile radio evaluation variable acquisition device (16) is configured to determine a value related to the signal strength of the mobile radio signal, and / or a value related to the running time of the mobile radio signal, and / or a value related to the upload rate and / or download rate of the mobile radio signal as a mobile radio evaluation variable B for evaluating the quality of the mobile radio signal.

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

4. A system comprising a self-propelled construction machine (1), characterized in that The self-propelled construction machine (1) is according to any one of claims 1 to 3 and also includes a cloud storage (18), wherein the self-propelled construction machine (1) is used to work on the ground or erect a structure on the ground during a previous work process, and another work process is performed using another construction machine after the previous work process.

5. The system comprising a self-propelled construction machine according to claim 4, characterized in that The system further comprises a data processing device (19) having a second mobile radio communication device (19a) for establishing a mobile radio connection, which is configured to read out a GNSS telemetry data set or a mobile radio telemetry data set from a cloud storage (18), and the data of the GNSS telemetry data set or the mobile radio telemetry data set are processed for visualization on a screen (19b) of the data processing device (19).

6. The system comprising a self-propelled construction machine according to claim 4, characterized in that The self-propelled construction machine (1) is a road milling machine.

Images