MOBILE CONSTRUCTION SITE SURVEYING DEVICE

Description

[0001] The invention relates to a mobile construction site surveying device according to the preamble of claim 1.

[0002] The term "construction site surveying device" refers to a device used for surveying and staking work on construction sites. The task of site surveying is typically performed by a geodetic engineer or surveyor on large construction sites, while on smaller sites it is performed by a civil engineer or site manager. Site surveying typically involves several steps: calibrating a receiver device for a position detection system on the mobile construction site surveying device, staking out the construction site, and recording the site.

[0003] The term "staking" generally refers to the transfer of points from geographical construction site information, usually from a blueprint, to the real world. This includes, for example, transferring and marking important lines, such as building points, building alignment lines, heights of a height reference, determining the elevation level of a foundation for a structure to be erected, staking out the position and height of other structural elements such as a duct, a pipeline, or an electrical line, and marking important building corners, for example, using batter boards. The use of spray paint and marking the terrain with measuring markers, nails, or stakes is also common.

[0004] The term "surveying" generally refers to the transfer of points from the real world into geographical construction site information, usually in the construction plan, for example, as part of surveying work that precedes, concludes, or accompanies a construction project. These include, for example, checking elevations and building corners, surveying for accompanying construction inspections, recording a fence, and final surveying. This also includes correcting errors in the construction plan, for example, if the route of an underground line turns out to be incorrectly entered in the construction plan.

[0005] One problem with these mobile construction site surveying devices is that their application is limited to surveys or stakeout work carried out with a so-called rover. A rover is a mobile device for surveying work – i.e., one that can be manually moved by a person during operation. It is usually a mobile surveying pole to which the "mobile" construction site surveying device is mounted and which is used for surveying work. Separate devices are therefore used for other applications. For example, an excavator uses a stationary device that is not mobile during operation, which incurs additional costs. Furthermore, each device usually has a device-specific format for storing geographical construction site information. Therefore, additional conversion modules are required, which in turn incurs additional costs.

[0006] WO 2014 / 013910 A1 and EP 2 876 220 A1 disclose an excavator with a multifunctional portable information terminal that can be attached to the excavator and used as an input and display device. The multifunctional portable information terminal can have a GPS function and a map display function.

[0007] US 2003 / 0065570 A1 describes a system for supplying a construction machine with fuel. The current fuel level is fed into a network, for example, via a mobile phone, as is the position of the construction machine determined by GPS, and the position of a tanker truck is also recorded using GPS. This allows the tanker truck to be directed to the construction machine in a timely manner.

[0008] US 2012 / 0288328 A1 describes a control system for a machine for producing a road surface. The position of the machine is recorded, and a map is created with data on what was processed and when. This can be displayed graphically. A tablet PC with a display and input is used to enter and display the machine's operating parameters.

[0009] US 2011 / 0178677 A1 describes the possibility of using an iPhone to control a packer. WO 2012 / 088413 A1 describes the possibility of using a smartphone on a rover.

[0010] The object of the present invention is first of all to create a mobile construction site surveying device that is as flexible and universally applicable as possible.

[0011] This object is achieved by a mobile construction site surveying device having the features of claim 1. Further developments of the invention are specified in the subclaims. Furthermore, important features of the invention can be found in the following description and the drawings, whereby these features can be essential to the invention both individually and in combination.

[0012] The ability to transmit signals from a construction machine-side device via an interface significantly expands the application range of the mobile construction site surveying device. It can now be used not only in mobile operation as a rover, but also stationary in a construction machine, taking into account the current parameters of a construction machine-side device. The transmitted information can then be used, for example, for construction machine control and / or compared with information and data, such as target values ​​for positions or similar, stored on the construction site surveying device. This enables higher levels of automation and thus cost-effectiveness in construction companies. A particularly suitable construction machine is an excavator, but also a grader, road grader, or even a leveling roller.

[0013] One and the same device can therefore be used for mobile operation as a rover and stationary operation in a construction machine. Or, to put it simply: The construction site surveying device according to the invention fulfills a dual function: it can be used both as a stationary navigation device in the construction machine and as a mobile rover device, allowing for quick switching from one to the other type of use. An additional device for use in the construction machine can be eliminated. This saves considerable costs. Furthermore, the same geographical construction site information is used in both application scenarios. A corresponding conversion module is therefore no longer required, and the time required for conversion can also be eliminated, which in turn saves time and costs.

[0014] Furthermore, the use of the same construction site surveying device for both construction machine guidance and surveying during rover operation ensures that the geographical construction site information is consistent in both operating modes. This means that the information used for construction machine guidance matches the information obtained or used during surveying and staking operations during rover operation. Thus, the construction site surveying device according to the invention provides precise guidance specifications when used in construction machinery, eliminating the need for on-site surveying and time-consuming and costly reprofiling.

[0015] A further development according to the invention is characterized in that the construction site surveying device comprises an input device for inputting, in particular for manual input of, information. This development according to the invention provides a significantly expanded range of applications.

[0016] A first development according to the invention is characterized in that the geographical construction site information is part of a construction plan or comprises a target or actual position of a construction site-relevant feature, in particular a target or actual position of a structure, a shaft, a trench, an embankment, a canal, a pipeline or an electrical line.

[0017] This allows a construction machine operator to be provided with information regarding the target and actual position of a site-relevant feature via the output device. This allows, for example, a construction machine operator, such as an excavator operator, to receive warnings during operation if they are near a pipeline or electrical line while using a construction machine tool, such as an excavator tool. The construction machine operator can use the information to specifically control their construction machine for the construction of the structure. This increases safety and efficiency during construction operations.

[0018] A further feature of the invention is characterized in that the interface is designed to supply signals from a receiving device for signals from a global satellite navigation system with a differential signal, a position and / or joint sensor of a construction machine boom, a position and / or joint sensor of a construction machine tool, an inclination sensor of a joint of a construction machine, and / or a data processing system of the construction machine. The advantage of such an interface is that particularly relevant information for controlling the construction machine can be supplied to the construction site surveying device. This enables particularly precise control and monitoring of the work carried out with the construction machine. For example, deviations from planned construction measures can be quickly detected. Likewise, situation-adapted outputs can be provided to the operator of the construction machine.

[0019] A further development according to the invention consists in that the construction site surveying device comprises a processing module which, when the construction site surveying device is connected to a device on the construction machine via the interface, outputs instructions to a construction machine operator at the output device, in particular depending on the current position of a construction machine tool and stored geographical construction site information. This further simplifies the control of the construction machine, accelerates work with the construction machine, and improves the quality of the work performed with the construction machine. Safety during operation of the construction machine is also improved, as the construction machine operator can follow the instructions of the construction site surveying device and thus focus, for example, on avoiding accidents.

[0020] Another advantage is that the precise guidance of the construction machine operator via the site surveying device reduces or eliminates human errors. Furthermore, the construction machine operator no longer needs to spend time intensively studying planned construction projects; instead, they can directly follow the instructions provided by the site surveying device. This has a positive impact on the costs incurred by a construction project, among other things.

[0021] By using the same device for site surveying and issuing instructions to the construction machine operator, the need for an additional device for construction machine control is eliminated. As mentioned above, this also eliminates the need to synchronize data on such an additional device, which can sometimes be time-consuming.

[0022] According to the invention, the construction site surveying device also comprises a processing module which, when the construction site surveying device is not connected to the construction machine-side device via the interface, outputs instructions to a rover operator at the output device, in particular depending on the current position of a reference element, preferably a surveying pole, an antenna, or a tripod. The device according to the invention thus automatically recognizes the current operating scenario (either mobile rover operation or stationary construction machine operation) and, depending on this, outputs instructions adapted to the recognized operating scenario. This increases operational flexibility and reduces delays when switching from one operating scenario to another.

[0023] Within the meaning of the invention, the inputtable information also includes a selection of the type of construction machine, staking or recording information, a selection of construction site information, a portion of construction site information, a calibration, an offset, a layer, a display type, a reference point of a tool, or a tool type. This makes it possible, for example, for the construction machine operator to enter unmarked pipelines into the geographical construction site information stored in the construction site surveying device, usually the construction plan. Likewise, features located on the construction site can be entered into the data records stored in the construction site surveying device. For example, it is conceivable to enter the location of trees or other construction-relevant features into the data records contained in the construction site surveying device.

[0024] By specifying a tool type, for example, the accuracy of the instructions issued to the construction machine operator can be increased. By selecting a suitable display type, the operation of the construction site surveying device can be optimally adapted to the specific operating conditions and the user's individual requirements.

[0025] It is also according to the invention that the input device comprises a touchscreen, speech recognition, a keyboard, or an input interface. Speech recognition enables data entry via voice input and has the advantage that no manual input is required. This relieves the user, allowing them to perform other tasks and / or concentrate on other activities. A keyboard is robust and can be operated even under adverse conditions such as noise or rain. A touchscreen eliminates the need for an external keyboard, allowing the device to be manufactured from a single block and permits intuitive and situational operation. It is even possible to use a conventional tablet PC onto which the program for staking, recording, controlling the construction machine, and calibrating is loaded as an app. The susceptibility of keyboard elements to mechanical failure is also eliminated by a touchscreen.A general input interface, for example using a common data protocol, also allows data input via other sensors, such as switches or external third-party devices.

[0026] According to a further development of the invention, the connector is designed to connect a receiving device for signals from a global satellite navigation system with a differential signal. The use of a global satellite navigation system with a differential signal to determine positions has the advantage of ensuring very high accuracy. The accuracy of such a system is in the centimeter range. Furthermore, the construction site surveying device can be used globally, since signals from such a global satellite navigation system with a differential signal can be received practically worldwide. This could, for example, be the commercially frequently used GPS-NAVSTAR signal. However, the use of other navigation satellite systems, such as the planned European Galileo system or the Russian GLONASS system, is equally conceivable.

[0027] As mentioned at the beginning, construction site surveying also includes the calibration of a receiving device. A key consideration here is that common devices for generating instructions to a construction machine operator use their own first coordinate system – referred to as the "receiving device coordinate system" – which differs from a second coordinate system of the construction site – referred to as the "construction site coordinate system." This requires determining a relationship between these two coordinate systems. Currently, specially trained personnel have been employed for this purpose, but this can significantly impact the economic viability of the construction project, especially in small construction projects.

[0028] In more detail, this is as follows: Signals suitable for positioning (usually electromagnetic signals) received by a receiving device allow the determination of a position, which is then specified in the (first) receiving device coordinate system. For example, this refers to the signals of a satellite navigation system with a differential signal, such as the GPS-NAVSTAR system: In this system, the position information is provided in a so-called WGS84 coordinate system.

[0029] However, the geographic information used on a construction site, typically the construction plan, is specified in a different, often site-specific coordinate system, namely a Cartesian coordinate system. However, it is also possible to use a government-surveyed coordinate system, which can be integrated using official reference points. The coordinate system used for geographic information on a construction site is the (second) "construction site coordinate system."

[0030] The calibration mentioned above serves to determine a relationship between these two coordinate systems, i.e., between the receiving device coordinate system and the construction site coordinate system. Only after such calibration can the device be used to generate instructions for a construction machine operator. This relationship is typically a mathematical transformation rule, for example, a Helmert transformation. However, the position detection system, within the meaning of the invention, can also be a ground-based system using radiation suitable for position determination. This primarily includes electromagnetic radiation, for example, radio waves, but the use of sound waves, particularly ultrasonic radiation, is also conceivable.

[0031] The calibration is essentially carried out as follows: The coordinates in the receiving device's coordinate system are determined at several points in the construction site coordinate system. This is done by positioning the receiving device at a defined position in the construction site coordinate system and receiving signals suitable for position determination using the receiving device and converting these signals into coordinates in the receiving device's coordinate system. This ensures that the coordinates of the defined position are available in both the construction site coordinate system and the receiving device's coordinate system. Using such points, whose coordinates are known in both coordinate systems, a relationship between the coordinate systems can then be determined.With such a relationship, the coordinates determined via the receiving device in the receiving device coordinate system can then be directly converted into coordinates in the construction site coordinate system. Therefore, the position of the receiving device and associated facilities can then be determined and specified directly in the construction site coordinate system.

[0032] A device is also described that has the advantage of enabling the calibration of a first coordinate system with a second coordinate system using construction machinery, particularly an excavator, largely automatically and very quickly, thus being cost-effective. This makes the device suitable for use on smaller construction projects. Its accuracy is perfectly sufficient for many cases.

[0033] Such a device comprises a processing module that determines a relationship between coordinates in the first and second coordinate systems based on the stored and associated coordinates in the first and second coordinate systems.

[0034] Determining such a relationship offers the advantage that measured positions from a receiving device on the construction machine can be directly transformed into construction site coordinates. This can be done, for example, using a seven-parameter transformation (Helmert transformation). Other relationships can also be determined that enable such a transformation between the two coordinate systems. The availability of position data from the construction machine or a construction machine tool, in particular an excavator tool, typically an excavator bucket, enables a continuous comparison of this construction machine position or construction machine tool position with data from geographical construction site information, for example, a construction plan.

[0035] The device can have an input device designed to initiate the assignment and storage by the processing module. This has the advantage that the construction machine operator can individually select the reference points at which he or she wishes to calibrate. For example, official survey points can be taken into account. The use of prominent features or construction-related objects such as a hydrant, a power line, or a water connection is also conceivable. This gives the construction machine operator maximum freedom regarding point or line selection.

[0036] The device's interface can be configured to supply signals from an antenna or a receiver unit for signals from a satellite positioning system with a differential signal. This achieves high accuracy.

[0037] The device can comprise a processing module that determines the coordinates of the construction machine tool in the second coordinate system using the signals received by the receiving device for signals suitable for position determination, the determined relationship, and signals from joint sensors of the construction machine. Considering a satellite navigation signal in combination with signals from joint sensors of the construction machine, in particular an excavator, enables particularly precise determination of the current position of the construction machine tool. This ensures a high degree of accuracy in assigning coordinates in the first coordinate system to corresponding coordinates in the second coordinate system. The use of joint sensors to determine the position of the construction machine tool also allows one or more antennas of the receiving device to be placed away from the actual construction machine tool.This has the advantage that the antenna of the receiving device is not exposed to any damaging influences, ensuring that the construction work proceeds smoothly.

[0038] The invention is explained below with reference to the accompanying drawings, which show: Figure 1: a perspective and highly schematic representation of a construction site with a construction machine in the form of an excavator and a rover with a mobile construction site surveying device; Figure 2: a schematic side view of the excavator from Figure 1 with the mobile construction site surveying device from Figure 1 ; Figure 3 a schematic side view of the rover from Figure 1 ; Figure 4 a perspective view of an area of ​​the rover from Figure 3 with the mobile construction site surveying device; Figure 5 a perspective view of the mobile construction site surveying device in stationary use in the excavator according to Figure 2; Figure 6 shows a representation of a first user interface of the mobile construction site surveying device when used according to Figure 5 ; Figure 7 shows a representation of a second user interface of the mobile construction site surveying device when used according to Figure 5 ; Figure 8 shows a representation of a third user interface of the mobile construction site surveying device when used according to Figure 5 ; Figure 9 shows a representation of a fourth user interface of the mobile construction site surveying device when used according to Figure 5 ; Figure 10 a representation of a user interface of the mobile construction site surveying device when used according to Figure 4 ; Figure 11 a representation of a fifth user interface of the mobile construction site surveying device when used according to Figure 5 ; and Figure 12 shows a representation of a sixth user interface of the mobile construction site surveying device when used according to Figure 5 .

[0039] In the various figures of the drawing, corresponding components and areas are provided with the same reference symbols.

[0040] A construction site contributes Figure 1designated overall by reference numeral 10. Also shown, at a distance from the construction site not to scale, are satellites 12 of a satellite navigation system, for example, NAVSTAR GPS. However, the invention would also permit the use of the Galileo system or the Russian GLONASS. To increase the accuracy of this system, a transmitter 13 is used to generate a differential signal. The electromagnetic signals from the satellites and the differential signal are designated overall by reference numeral 14. As will be explained further below, they serve in various ways to determine positions during work on construction site 10. In an embodiment not shown, earth-based electromagnetic signals are used for position determination instead of a satellite navigation system.

[0041] A construction machine in the form of an excavator 16 is depicted on an area 18 of the construction site 10 that is yet to be dredged. The area 18 that is yet to be dredged is adjacent to an area 20 that has already been dredged. Buildings 22 are depicted at one end of the dredged area 20. As seen from the area 18 that is yet to be dredged, an area 24 that is to be staked out is depicted behind the buildings 22. A so-called rover 26 is depicted along the dashed outlines of the area 24 that is to be staked out. This is a "mobile" device, described in more detail below, that can be moved by hand by a person across the construction site 10 during operation and can be used to carry out stake-out work.

[0042] A construction project on a construction site 10 typically proceeds as follows: In a first step, a so-called construction survey is carried out, usually by a person in the form of a surveyor, a geodesist, or a civil engineer or construction manager, who holds the rover 26 in their hand and moves it across the construction site. Since the satellite navigation signals 14 are used for this purpose, a transformation (also known as calibration) of the signals 14 of the satellite navigation system, which are present in a receiving device coordinate system, into coordinates of the construction site 10 in a construction site coordinate system is regularly necessary. This calibration can also be performed with the rover 26 or with the excavator 16. This will be explained further below.

[0043] Typically, such a calibration is followed by a staking process. This involves marking out building lines or height references, for example. This can be done using stakeout lines or spray paint. During the construction of a single-family home, for example, the basement and important building corners would be staked out using batter boards. This staking is carried out by a person using the rover 26, which comprises a construction site surveying device (to be explained in more detail later) that is connected to a receiving device for the signals 14 of the satellite navigation system 12, to walk around and mark the corresponding points on the construction site 10. The area 24 to be staked out in this way can have complex shapes. Following the staking out of the construction site, the excavation or excavation work is then carried out by the excavator 16.The construction measures actually carried out are then recorded or entered into geographical construction site information, typically the construction plan.

[0044] Figure 2 shows an exemplary design of an excavator 16. The excavator 16 shown here is designed as a crawler excavator. A drive part of the excavator 16 comprises a chain 28 and drive wheels 30. Connected to the drive part 16, 18 is a rotary joint 32, via which an upper part 34 of the excavator 16 can be rotated relative to the drive part 16, 18. The upper part 34 of the excavator 16 comprises an excavator operator's cabin 36, which here contains the mobile construction site surveying device 38 already mentioned above.

[0045] This is connected by means of an interface not yet shown in this figure to a GPS antenna 40, which is attached to an engine housing 42 of the excavator 16 and connected to a processing device (not shown). The GPS antenna 40 and the processing device together form a receiving device for determining the position, which will also be referred to as 40 below. In this example, it is connected to a data processing system 41 of the excavator 16. The processing device can also be integrated into the data processing system 41 of the excavator 16. A boom in the form of an excavator arm 44 is attached to the upper part 34. In the present example, this arm is designed with multiple links. The individual links of the boom 44 are connected to one another via joints 46, and the boom 44 of the excavator 16 is connected to the upper part 34 of the excavator 16 via a joint 46.

[0046] The orientation of the joints 46 and thus of the links of the boom 44 can be varied using hydraulic linear motors in the form of hydraulic cylinders 50. The position of a construction machine tool designed as an excavator bucket 52 relative to the excavator boom 44 can also be changed using one of these hydraulic cylinders 50. The relative position of the links of the boom 44, varied by the hydraulic cylinders 50, can be measured via joint sensors 48 and transmitted to the construction site surveying device 38 via an interface explained in more detail below.

[0047] Figure 3shows the mobile construction site surveying device 38 as part of the rover 26, which is held by a person 27 and moved across the construction site 10 (in this respect, the construction site surveying device 38 is "mobile" during operation). The construction site surveying device 38 is attached to a pole 54, which also belongs to the rover 26 and has a DGPS antenna with an integrated DGPS receiver 56. During surveying operations, the person 27 can move the rover 26, in the form of the vertically held pole 54 and the DGPS receiver 56 connected to it, to various survey points. Signals from the DGPS receiver 56 are transmitted to the construction site surveying device 38 via the interface already mentioned several times above but described in more detail below.

[0048] Person 27 can follow instructions issued by the site surveying device 38 of the rover 26 to perform staking operations. One such staking operation is, for example, marking underground water pipes using spray paint. This also includes marking alignment points of the construction site 10 and staking contour lines relevant to the construction work on the site 10.

[0049] Figure 4 shows a detailed view of the mobile construction site surveying device 38 on the pole 54. The mobile construction site surveying device 38 is connected to the pole 54 via a swivel arm 58. A processing module 59, which is designed here as a microprocessor, is integrated into the construction site surveying device 38. The mobile construction site surveying device 38 includes the interface already mentioned several times above, which in Figure 4bears the reference numeral 60 and is embodied here as a USB port. In an embodiment not shown, the interface is wireless, for example, a Bluetooth interface.

[0050] The construction site surveying device 38 further comprises a memory 61 and an output device 62. The output device 62 is designed in this example as a touch-sensitive screen. On said screen, Figure 4 Shown are the building 22, the area to be staked out 24, a route 66 of an underground water pipe, and a route 68 of an underground electrical line. Furthermore, the screen displays the current position 64 of the pole 54 (actually, the DGPS antenna 56) of the rover 26.

[0051] The touch-sensitive screen 62 also serves for inputting information. A further input device is shown, for example, in the form of an input interface 63 and a keyboard 63a. The output device 62, which in this embodiment is embodied as a touch-sensitive screen, can alternatively or additionally be embodied as a voice output in an embodiment not shown.

[0052] Figure 5 shows again the mobile construction site surveying device 38. However, in this example it is used in the excavator 16, as in Figure 2shown, but use in other construction machines, such as earth planers or leveling rollers, is also possible. A joystick 71 of the excavator 16 is mounted next to the construction site surveying device 38. A projection 74 of the excavator bucket 52 is shown on the screen 62 of the construction site surveying device 38. Also shown is a schematic plan view of the excavator 16, which does not bear a reference symbol. Signals from the construction machine-side receiving device 40 are fed to the mobile construction site surveying device 38 via the interface 60.

[0053] Figure 6shows a user interface of the construction site surveying device 38, with which the user can make various inputs. For example, in area 84, under the menu item "Construction Site," the user is given a selection of various construction sites (and thus the construction plans saved for them). Likewise, under the menu item "Equipment," in an area 86, the user can select the device with which the construction site surveying device 38 should be used. In this case, a "Kobelco 235" excavator is selected. However, it is also possible to select the use of the construction site surveying device 38 as part of a rover 26 at this point. If a construction machine is selected in 86, the tool currently used in the construction machine can be specified in an area 88; in this example, a bucket 52 of the "SO105" excavator 16 is selected. Another menu item in an area 90 allows the selection of a specific construction plan.In this case, the construction plan "Planum" has been selected.

[0054] The construction site surveying device 38 is used in the excavator 16 to issue instructions to the excavator operator so that the excavator operator can operate the excavator 16 in such a way that the excavation work is carried out quickly and precisely. A number of possible user interfaces for issuing such instructions are described in the Figures 7 to 9 shown.

[0055] Figure 7 shows a user interface in which the excavator 16, a projection 74 of the excavator bucket 52 and the construction site 10 are shown in a side view, Figure 8 a user interface in which the excavator 16 is partially shown in a bird's eye view and additionally the construction plan of the construction site, as well as Figure 9 a user interface that corresponds to a view from the excavator operator's cab 34 of the bucket 52 and the construction plan of the construction site 10.

[0056] How much soil the excavator operator still has to remove is shown to him in the user interfaces of the Figures 7 to 9 in fields 92 and 94. For example, in area 92, the user is given the distance the right tip of the excavator bucket 52 is currently from a target line. In area 94, the user is given the distance the left tip of the excavator bucket is currently from the target line. This information is always viewed in the vertical direction, or in other words: it is a vertical distance. The target line is, of course, a target surface, but in the 2-dimensional representation, it only appears as a line. In Figure 7A target line of the planned road surface is marked with reference numeral 100. Also shown is a target line 102 for excavation. In this example, the excavator operator is instructed to remove as much soil until the surface of the soil coincides with the target line 102.

[0057] It is also planned that the construction site surveying device 38 will issue warnings if the excavator operator brings the excavator bucket 52 too close to points to be avoided.

[0058] Figure 10 shows a user interface of the construction site surveying device 38 in the event that it is used as part of a rover 26 and issues corresponding instructions to the person 27 using it (after a corresponding selection in the area 86 of Figure 6). The construction site is shown from a bird's-eye view. The current position 96 of the rover 26 is displayed, as are the stakeout points 98 to be set out from the rover 26. In a similar manner (not shown here), the person 27 using the rover 26 can be given information about points to be recorded, i.e., measured.

[0059] It is also possible to use the rover 26 with the mobile construction site surveying device 38 for the calibration mentioned above. Such calibration involves moving the rover 26 by the person 27 to specific points on the construction site 10, which have specific coordinates in a construction site coordinate system. These marking points can be displayed to the person 27 on the screen 62. This can, for example, be the route 66 of a pipeline (see Figure 4Urban survey points are also conceivable. At each marking point, the rover 26 then records the corresponding signals 14 of the satellite navigation system using the construction site surveying device 38. The positions determined by the measured or recorded signals 14 are given in coordinates of the receiving device coordinate system (first coordinate system) and are then assigned to the coordinates in the construction site coordinate system (second coordinate system).

[0060] Typically, the construction site coordinate system is a Cartesian coordinate system. An example of a coordinate system for a satellite navigation system would be the WGS84 coordinate system. Rover 26 is therefore moved to several points on the construction site 10 that have known coordinates in the construction site coordinate system and records the coordinates in the receiving device coordinate system. The corresponding coordinate pairs are assigned to each other; i.e., for a specific point on the construction site 10, the coordinate in the construction site coordinate system is assigned to the coordinate in the receiving device coordinate system.

[0061] Using these coordinate pairs, a relationship can then be determined for the transformation of the coordinates in the receiving device's coordinate system into those in the construction site's coordinate system. One such relationship or transformation rule is the so-called "Helmert transformation." However, the invention also allows for the determination of other, for example, simpler relationships, particularly simpler mathematical transformations, especially those that only describe a transformation locally with sufficient accuracy.

[0062] The determination of a relationship between a receiving device coordinate system and the construction site coordinate system as described above makes it possible to convert or convert the signals 14 in the receiving device coordinate system directly into coordinates of the construction site coordinate system and to display them accordingly.

[0063] Figure 11shows another user interface of the construction site surveying device 38, which appears when it is used in the excavator 16 to perform a calibration of the type just described. However, such a user interface is also possible on another device, for example, one that is permanently and non-removably installed in the excavator 16, for providing information, in particular for generating instructions, for a construction machine operator.

[0064] To perform a calibration, the excavator operator first selects the menu item "Calibrate". As shown in Figure 11 As can be seen, the excavator operator is then prompted by a window appearing on the screen 62 to select a first calibration point from the site plan. By making a corresponding entry on the touch-sensitive screen 62, the excavator operator selects a calibration point, here designated by the reference numeral 73 ( Figure 12).

[0065] A further window is now displayed on the screen 62, which instructs the excavator operator to set the selected corner point of the excavator bucket 52 exactly on the selected calibration point 73. By means of a projection 74 of the excavator bucket 52 from a bird's eye view, similar to the representation in Figure 8 He is shown how to position the excavator bucket 52 to record the calibration point 73. This projection also includes a special optical marking 76 of the corner point of the excavator bucket 52, as well as a special optical marking 78 of the center line of the excavator bucket 52.

[0066] The excavator operator now brings the position of his bucket 52 to the calibration point 73 marked by him, as shown in the Figure 12is shown. Upon input from the excavator operator, the construction site surveying device 38 records the signals 14 of the satellite navigation system with differential signals 12, 13 received by the receiving device 40 and assigns them to the coordinates in the construction site coordinate system. Based on these signals 14, the position of the corner point 76 of the excavator bucket 52 is determined in a receiving device coordinate system. This can be done, for example, by incorporating signals from the articulated sensors 48 and data on the structural design of the excavator 16. The position of the corner point 76 of the excavator bucket 52 present in the receiving device coordinate system is then assigned to the calibration point 73 in the construction site coordinate system.

[0067] This process is preferably repeated for several different calibration points. Taking into account the DGPS coordinates assigned to the receiver device coordinate system, a processing module of the site surveying device 38 can then determine a corresponding relationship between the receiver device coordinate system and a site coordinate system. A window then opens on the screen 62, indicating to the excavator operator whether a (preselected) desired calibration accuracy has been achieved, and numerical values ​​for the achieved vertical and horizontal accuracy are output.

[0068] Based on this relationship between the two coordinate systems, coordinates of positions in the receiving device coordinate system can then be converted into coordinates of these positions in the construction site coordinate system. The position of the excavator bucket 52 can then be continuously displayed in the construction plan based on the construction site coordinate system. In other words, this allows the position of, for example, the excavator 16 or the excavator bucket 52 to be directly displayed in a construction plan, for example, executed as a CAD plan.

Claims

1. Mobile construction site surveying apparatus (38) having a connection for a receiving device (40, 56) for determining the position by means of signals (14) suitable for position determination, a memory (61) for storing geographical construction site information, an output device (62) for outputting the geographical construction site information, an interface (60) by means of which signals from at least one construction machine-side device (40, 41, 48) can be fed to the device, and an input device (62, 63, 63a) for inputting information, characterized in that the information that can be input via the input device (62) comprises a selection between construction machine operation and rover operation, wherein the mobile construction site surveying apparatus (38) can be used during construction machine operation as a stationary navigation device in a construction machine (16), and wherein the mobile construction site surveying apparatus (38) can be used during rover mode as a mobile rover apparatus for surveying, and wherein the mobile construction site surveying apparatus (38) uses the same geographical construction site information both during construction machine operation and during rover operation.

2. Mobile construction site surveying apparatus (38) according to claim 1, characterized in that the geographical construction site information is part of a construction plan or comprises a target or actual position of a feature relevant to the construction site (22, 66), in particular a target or actual position of a structure (22), a shaft, a trench, an embankment, a channel, a pipeline (66) or a power line (68).

3. Mobile construction site surveying apparatus (38) according to either of the preceding claims, characterized in that the interface is designed to supply signals from a receiving device (40) for signals (14) of a global satellite positioning system having a differential signal (12, 13), of a position and / or joint sensor of a construction machine boom (44), of a position and / or joint sensor of a construction machine tool (52), of an inclination sensor (48) of a joint (46) of the construction machine (16), and / or of a data processing system (41) of the construction machine (16).

4. Mobile construction site surveying apparatus (38) according to any of the preceding claims, characterized in that it comprises a processing module (59) which, when the construction site surveying apparatus (38) is connected to a construction machine-side device (40, 41, 48) via the interface (60), outputs handling instructions to a construction machine operator at the output device (62).

5. Mobile construction site surveying apparatus (38) according to at least one of the preceding claims, characterized in that the information that can be input via the input device (62) is at least information from the following group: a type of construction machine (16), setting-out or recording information, a selection of pieces of construction site information, a part of the construction site information, a calibration, an offset, a layer, a representation type, a reference point of a construction machine tool (52), a tool type.

6. Mobile construction site surveying apparatus (38) according to at least one of the preceding claims, characterized in that the input device (62) comprises a touchscreen (62), a voice recognition means, a keyboard (63a) or an input interface (63).

7. Mobile construction site surveying apparatus (38) according to any of the preceding claims, characterized in that the connection is designed for connecting a receiving device (40) for signals (14) of a global satellite navigation system (12) having a differential signal (13).