Method and system for determining the position and / or orientation of construction machinery tools within a construction area.

Abstract

To accurately determine the position and / or orientation of construction equipment tools within the construction area. [Solution] Stereo cameras 2a and 2b are attached to the construction machine 1 so that detection areas 2a1 and 2b1 within the construction area BF can be detected by the stereo cameras 2a and 2b. A reference point 3 is provided whose position relative to a predetermined 3D world coordinate system is known and which is recognizable in the images of the stereo cameras 2a and 2b. Based on the detection of the reference point 3 and triangulation, the stereo cameras 2a and 2b are calibrated to determine the transformation between the 3D world coordinate system and the 2D image coordinate system of the stereo cameras 2a and 2b. Based on the detection of the construction area BF by the stereo cameras 2a and 2b, a virtual digital 3D terrain model of the construction area BF is prepared using stereoscopic vision and image recognition. According to the virtual digital 3D terrain model, the predetermined working position of the tool 1a of the construction machine 1 and the detected actual tool position and / or actual tool inclination are presented.

Description

Technical Field

[0001] The present invention relates to a method and a system for determining the position and / or orientation of tools of construction machines within a construction area.

Background Art

[0002] As is known, the actual positions of construction machines can be determined by GPS receivers mounted on the device carriers of each construction machine. The working positions or coordinates within a construction area can be confirmed by the GPS measurement principle, and by including additional correction data in the calculation, the inaccuracies inherent in determining the position by the measurement principle using only the GPS receiver can be reduced. This positioning continuously depends on the ability to permanently receive and utilize GPS signals and their accuracy. For example, as can be imagined, within a conflict area, the reception of GPS and other satellite-based signals is restricted or completely blocked in order to prevent signal use by conflicting parties.

[0003] In addition, high-precision GPS receivers are expensive, and the permanent recalculation of positions determined by GPS receivers within a construction area is computationally intensive. This is even more true when multiple construction machines must be used and positioned within a single construction area.

[0004] Construction machinery can generally be located according to a digital terrain model using at least three reference points. This can be done, for example, using Bluetooth® Low Energy (BLE) beacons or transmitters that transmit and receive signals rooted in Bluetooth® technology. Permanently mounted antenna systems are typically used to receive signals from these beacons. However, a smartphone can also suffice as an alternative. Once a properly equipped smartphone is located within the receiving range of a BLE beacon, its data is read. Once multiple receivers are located within their respective areas, the precise locations of those BLE beacons can be determined. The transmitter range is approximately 10 to 30 meters, but this can be severely limited by walls and other obstacles.

[0005] Therefore, for surveyors, determining and marking locations (e.g., drilling points or starting points) within a construction area remains a routine task. However, this process is costly and relies on the availability of appropriately qualified personnel.

[0006] Patent Document 1 discloses a method for providing work guidelines for construction machinery. In this method, a 3D camera equipped with a stereo camera and an object recognition sensor recognizes objects present around the construction machinery and captures images of those objects. The 3D camera is a RADAR sensor or LIDAR sensor, and electromagnetic waves are emitted and re-received to recognize distance, direction, etc. In this method, reference coordinates corresponding to the position of the construction machinery are acquired by a position information receiving device, such as GPS, the Global Navigation Satellite System (GLONASS), Galileo, or a similar system. Based on the aforementioned images, the relative coordinates of the objects to the construction machinery are confirmed. These relative coordinates are transformed based on the reference coordinates to obtain three-dimensional coordinates, and the image with these three-dimensional coordinates is displayed on the screen of the construction machinery. The three-dimensional coordinate data thus obtained can be used in conjunction with the control device of the construction machinery, for example, for machine operation or machine control.

[0007] Patent Document 2 discloses a system for planning soil removal work to be performed by a construction machine. The system comprises a measurement system configured to capture 3D measurement data of non-flat terrain surrounding the construction machine within at least a first detection area; a context camera whose position relative to the measurement system and / or 3D measurement data is known and which is configured to capture context image data of the terrain within the first detection area; a user interface configured to display at least one context image to the operator of the construction machine based on the context image data and to receive user input from the operator, for example, user input that can be interpreted as or contains an excerpt of pixels from the context image; and at least an arithmetic logic unit operablely coupled to the measurement system and the user interface. The computational logic unit generates a 3D terrain model of the terrain within the first detection area based on the aforementioned 3D measurement data, interprets user input as an excerpt of pixels from the context image, calculates the known relative position of the context camera and maps those excerpted pixels to the surface of the 3D terrain model, determines the 3D coordinates on that surface based on that mapping, and supplies those 3D coordinates to the machine control unit, which controls the soil removal operation based at least partially on those 3D coordinates.

[0008] Patent Document 3 discloses a method and system for configuring a machine control unit for construction machinery to control a soil removal operation having multiple phases to be performed sequentially, such as a tracked vehicle or motor grader for trench or road construction. The measurement system in this system comprises at least one measurement unit on the construction machinery, each measurement unit designed to capture 3D point cloud data, i.e., three-dimensional measurement data. Each measurement unit comprises at least one laser scanner, multiple time-of-flight (ToF) cameras, a millimeter-wave radar system, and / or one or more stereo camera systems. The system further comprises a context camera whose position relative to the measurement system and / or three-dimensional measurement data is known, and the context camera is configured to detect contextual image data of the terrain within its first detection area. In this case, the user interface is configured to display at least one contextual image based on the contextual image data for the operator of the construction machine, the computational logic unit is configured to overlay recognized elements onto the displayed contextual image and to receive operator input related to the next phase of the soil removal process, and the machine control unit is similarly configured to be based on operator input. Optionally, the user interface may be equipped with a touch-sensitive display that displays the contextual image and accepts user input. Operator input for setting may include an excerpt of one or more recognized elements.

[0009] In general, the measures handled by these systems are to assist the operation of the construction machinery in question by detecting objects within the immediate work area of ​​the machinery and displaying those objects to the machine operator according to the digital terrain model associated with the machinery.

[0010] In the civil engineering device known from Patent Document 4, at least one camera is positioned on the upper area of ​​the mast, so that images of the civil engineering device and its surroundings can be captured and used as indicators for visual safety monitoring of the site. Multiple cameras can be used, and the images from them can be linked to appropriate software to assemble a 360° image of the surroundings based on multiple camera settings. When a person or object approaches the civil engineering device and enters the safety area, a warning signal can be output by the control unit using sound, optics, or other means. In this system, the surrounding images are recorded as they are and evaluated while paying attention to the movement of foreign objects.

[0011] Patent Document 5 discloses a method for correcting the determination of the directional angle of a sensor system of a work machine, wherein the work machine is configured to determine a directional angle that represents the orientation of its rotatable superstructure, and the superstructure is fitted with at least one camera that detects the surroundings of the work machine.

[0012] The basis and principle of this invention lies in the use of stereoscopic vision technology, a field that has been studied for many years within digital image processing. Therefore, this disclosure does not provide a detailed description of the technology. The aim of stereoscopic vision is to obtain depth information from at least two images that simultaneously capture the same object from different viewing angles. The distance from the captured object can be calculated based on the difference in viewpoints between these two two-dimensional images. Therefore, at least two cameras are required to obtain a stereo image. Vision obtained from two cameras is called spatial vision, three-dimensional vision, or stereo vision.

[0013] To determine the location of an object in space, it is necessary to know the relative position and orientation of the camera to a given world coordinate system (reference coordinate system). These variables are called external or external camera parameters. The world coordinate system is determined by a known calibrator. The process of determining internal and external camera parameters is called calibration. The aim of camera calibration is to determine the transformation between the 3D world coordinate system and the 2D image coordinate system. [Prior art documents] [Patent Documents]

[0014] [Patent Document 1] U.S. Patent Application Publication No. 2022 / 0333355 Specification [Patent Document 2] European Patent Application Publication No. 4296436 [Patent Document 3] European Patent Application Publication No. 4324988 [Patent Document 4] European Patent Application Publication No. 3553229 [Patent Document 5] German Patent Application Publication No. 102021214441 Specification [Overview of the project] [Problems that the invention aims to solve]

[0015] The objective of this invention is to provide a method and system for determining the position and / or orientation of tools of construction machinery within a construction area, which can perform this positioning in a cost-effective and accurate manner. [Means for solving the problem]

[0016] According to the present invention, the object is a method or system for determining the position and / or orientation of tools of construction machinery within a construction area, which can be achieved by both having the features of claim 1 and claim 10, respectively. Preferred embodiments of the present invention are presented in dependent claims.

[0017] The method according to the present invention is The steps include: mounting at least one stereo camera on at least one construction machine or mobile carrier so that the stereo camera can detect at least one detection area within a construction area, preferably the work area of ​​the construction machine; The steps include providing at least one reference point whose position relative to a predetermined 3D world coordinate system is known and which can be recognized in the image of the stereo camera within the detection area of ​​the aforementioned at least one stereo camera, In order to determine the transformation between the 3D world coordinate system and the 2D image coordinate system of at least one stereo camera, the steps include calibrating the aforementioned at least one stereo camera based on the detection of at least one reference point by the stereo camera and triangulation, Based on the detection of the construction area by at least one stereo camera (after calibration), a virtual (digital) 3D terrain model of the construction area is prepared by digital image processing (stereoscopic method) and image recognition. The steps include presenting a predetermined working position (e.g., target drilling point or starting point) of a tool of at least one construction machine, and the detected actual tool position and / or actual tool inclination, according to the virtual digital 3D terrain model. It is characterized by having the following features.

[0018] One of the fundamental ideas of this invention is to generate a digital virtual 3D terrain model of a construction site, which is based on a stereoscopic method using a stereo camera to detect at least one detection area within the construction area, preferably the working area of ​​a construction machine. At least one reference point is provided for reference / calibration, and its exact world coordinates are known (e.g., by surveying or a GPS receiver) and detected by a stereo camera. After calibration, a digital virtual 3D terrain model is prepared based on the construction area image detected by the stereo camera.

[0019] The 3D terrain model can be continuously renewed and improved by collecting additional images of the construction area during construction work with a stereo camera and analyzing them by stereoscopy, optionally by analyzing images with different orientations of the camera due to the movement of the construction machine, or by using another stereo camera with a different orientation on another construction machine operating within the same construction area or on the same construction machine. It is also conceivable to provide the stereo camera on a mobile carrier, for example on a tripod or a stand, and temporarily install it at a plurality of different positions or suitable positions within the construction area.

[0020] According to the present invention, extensive benefits can be obtained, that is, a virtual 3D terrain model that does not require an expensive GPS device for preparation can be used to record the comparison between the target situation and the actual situation (for example, as a document or quality certificate regarding the construction progress), and / or by using the virtual digital 3D terrain model, it is possible to place the construction machine (or additional construction machines) or their tools respectively without keeping an expensive GPS device operable permanently on each construction machine (optionally setting the inclination of the drilling tool), and such benefits can be obtained.

[0021] In a prior application regarding on-site detection by sensors, the near field around the working position of a construction machine is identified by a stereo camera, and the result is directly used to assist in the operation or control of the construction machine. However, what the present invention aims at is to first prepare a global virtual digital 3D terrain model of the construction area using stereoscopy, and then, based on this information and the current further detection information of one or more stereo cameras, move the tool or the construction machine to their respective workplaces and monitor while performing the construction task there.

[0022] In this case, "monitoring" means, in addition to identifying the construction elements (individual bored piles) that are currently the work target related to the construction plan, also identifying further quality-related information, such as the position of the drilling start point, the orientation of the device with respect to the borehole (indispensable for measuring verticality), the orientation of the drill pipe with respect to the upper edge of the terrain, or the inclination of the rope grab with respect to the slot.

[0023] Therefore, the method according to the invention may include positioning and / or orienting the tool of at least one construction machine (or another construction machine) based on a virtual digital 3D terrain model in order to match the target value and the actual value.

[0024] The accuracy of the virtual digital 3D terrain model can be improved by repeatedly detecting the construction area with at least one stereo camera, preferably while the position or orientation of the stereo camera is changing or after capturing a different detection area after the change, for example intermittently or continuously, and continuously expanding, updating / adjusting the virtual 3D terrain model by digital image processing (stereoscopy) and image recognition based on the repeated detection of the construction area by the at least one stereo camera.

[0025] The accuracy of the virtual digital 3D terrain model can also be improved by providing at least one additional stereo camera and positioning it to detect areas within the construction area that are different from the detection area of ​​the at least one stereo camera, and preferably the aforementioned at least one reference point and / or additional reference points whose exact world coordinates are known (e.g., by measurement or GPS receiver), and by calibrating the at least one additional stereo camera based on the detection of the at least one and / or additional reference points and determining the transformation between the 3D world coordinate system and the 2D image coordinate system of the at least one additional stereo camera by triangulation. Furthermore, the accuracy of the virtual 3D terrain model of the construction area can be improved by incorporating the detection results of the construction area by the at least one additional stereo camera into the virtual 3D terrain model of the construction area using digital image processing (stereoscopic viewing) and image recognition.

[0026] The accuracy of the virtual digital 3D terrain model can also be improved by identifying further influencing factors, such as the position of the sun or wind direction, and preparing and / or updating / adjusting the virtual digital 3D terrain model by taking these factors into account.

[0027] According to the present invention, a machine coordinate system, i.e., a local coordinate system, of a construction machine or tool is derived based on a virtual 3D terrain model. By using the derived machine coordinate system to locally determine the position and / or orientation of the construction machine or tool within the construction area, the construction machine can be autonomously oriented and positioned in two dimensions within the construction area without having to permanently determine its position using external signals such as GPS. The derived machine coordinate system can be loaded, for example, into the controller of the construction machine.

[0028] Furthermore, the method according to the present invention may also include aligning a digital site plan of a construction area with a virtual 3D terrain model of the construction area and identifying positional deviations. The results of the alignment can be used and stored, for example, to record the work process in line with quality assurance and quality certification, and / or to correct the placement of construction machinery tools in the ongoing construction process when positional deviations occur.

[0029] Accordingly, the present invention relates to a system for determining the position and / or orientation of tools of a construction machine within a construction area, particularly according to a method according to the present invention, comprising: at least one stereo camera mounted on at least one construction machine or mobile carrier to detect at least one detection area within a construction area, preferably the work area of ​​the construction machine; at least one reference point whose position relative to a predetermined 3D world coordinate system is known and which can be recognized in the image of the stereo camera within the detection area of ​​at least one stereo camera; and an apparatus configured to perform the steps of the aforementioned method, wherein among those steps, To determine the transformation between the 3D world coordinate system and the 2D image coordinate system of at least one stereo camera, the steps include calibrating at least one stereo camera based on the detection of at least one reference point and triangulation, The steps include: preparing a virtual digital 3D terrain model of the construction area based on detection of the construction area by at least one stereo camera, using digital image processing, particularly stereoscopic viewing and image recognition; The steps include presenting a predetermined working position of a tool of at least one construction machine, the detected actual tool position, and / or the actual tool inclination according to a virtual digital 3D terrain model, This also relates to systems that include this feature. [Brief explanation of the drawing]

[0030] [Figure 1] This is a schematic diagram of a construction area for illustrating the method according to the present invention. [Figure 2]This is a schematic diagram illustrating the relationship between multiple reference points and each piece of construction machinery or equipment, used to determine the orientation and position of construction machinery / equipment by measuring the distance to the reference points using the principles of stereoscopic vision. [Modes for carrying out the invention]

[0031] The present invention will be described below with reference to the accompanying drawings, based on exemplary embodiments.

[0032] This method, as very schematically shown in Figures 1 and 2, is a method for determining the position and / or orientation of a tool 1a of a construction machine 1 within a construction area BF, wherein, as illustrated herein, an overlapping bore pile wall 4 is intended to be constructed using a tool in the form of a drilling device or drill pipe 1a, with a number of aligned and partially overlapping bore piles, and first, at least one reference point 3 whose position relative to a given 3D world coordinate system is known is provided.

[0033] Reference point 3 acts as a distinguishable calibration object within the construction area, serving as a reference for further location determination. The position of reference point 3 can be determined by surveying techniques, and optionally, satellite signals can also be used for its determination. Since it is sufficient to determine the position in the 3D world coordinate system only once, a process that may be more complex than permanent position determination using a simple navigation system is acceptable for this purpose.

[0034] According to the present invention, at least one stereo camera 2a;2b is mounted on at least one construction machine 1 or mobile carrier such that the stereo camera can detect at least one detection area 2a1;2b1 within the construction area BF, preferably the work area 1b of the construction machine 1, and can recognize at least one reference point 3 within the stereo camera image of the detection area 2a1;2b1. Here, it would be sufficient to detect the reference point 3 at least at a certain position in the rotational direction of the construction machine, and the construction machine can be a mobile construction machine in the form of a civil engineering machine having a movable lower carriage and an upper structure rotatable relative to the lower carriage.

[0035] Since the visibility and distance of the reference point as seen from the construction machinery may fall within a range where position measurement based on that reference point is not possible, it is desirable to distribute multiple reference points 3 throughout the entire construction area BF in order to completely detect the entire construction area using one or more stereo cameras.

[0036] Preferably, the aforementioned at least one stereo camera is mounted on the construction machine such that the relevant area including at least one reference point 3 within the construction area is detected within the camera's detection area 2a1;2b1. To this end, the stereo camera can be mounted on the rotatable superstructure of the construction machine, or on a mast or other exposed member, such that its detection area is not obstructed or is only partially obstructed by the construction machine itself or objects within the immediate work area 1b. Rotation of the superstructure during work in a work position, and movement of the construction machine to another work position, cause the stereo camera's detection area 2a1;2b1 to move continuously, expanding the detected portion of the construction area around the construction machine.

[0037] Since at least one reference point 3 can be recognized within the stereo camera image of detection area 2a1;2b1, the distance to that point can be accurately reproduced using the stereo camera. Because the mounting location on the construction machine is known, the orientation of the superstructure and the position of the civil engineering machine can be derived. After the construction machine or civil engineering machine moves, the reference point 3 is detected from a different viewing angle.

[0038] By calibrating at least one stereo camera 2a;2b based on the detection of at least one reference point 3 and triangulation, the transformation between the 3D world coordinate system and the 2D image coordinate system of the at least one stereo camera 2a;2b can be determined in a manner that is known in itself.

[0039] Similarly, a virtual digital 3D terrain model of the construction area BF can be prepared in a known manner after calibration using digital image processing (stereoscopic method) and image recognition based on detection of the construction area BF by at least one stereo camera 2a;2b.

[0040] Camera images of the same or different detected areas, which are continuously detected over a long period of time, shift relative to each other over time. Therefore, these camera images can be used not only to detect the 360° area immediately surrounding the construction machinery, but also to detect the entire construction area and visualize it according to a virtual digital 3D terrain model.

[0041] Intermittent or continuous repeated detection of previously detected portions of the construction area BF by at least one stereo camera 2a;2b, preferably repeated detection while the position or orientation of the stereo camera is changing or after it has changed and captured another detection area 2a1;2b1, and continuous expansion and updating / adjustment of the virtual 3D terrain model by digital image processing (stereoscopic method) and image recognition based on the repeated detection of the construction area BF by at least one stereo camera 2a;2b, thereby continuously improving the coverage and accuracy of the virtual digital 3D terrain model.

[0042] To improve the coverage and accuracy of the virtual digital 3D terrain model, at least one additional stereo camera 2a;2b can be provided and positioned so that an area within the construction area BF, at least partially different from the detection area 2a1;2b1 of the at least one stereo camera 2a;2b, and preferably at least one reference point 3 and / or one or more additional reference points 3 can be detected. To determine the transformation between the 3D world coordinate system and the 2D image coordinate system of the at least one additional stereo camera 2a;2b, this or these additional stereo cameras can be calibrated by triangulation based on the detection of their at least one reference point and / or one or more additional reference points 3. The detection results of the construction area BF by at least one additional stereo camera 2a;2b are incorporated into a virtual 3D terrain model of the construction area BF by digital image processing (stereoscopic viewing) and image recognition, so that various parts of the construction area are detected from various angles, and consequently, a wide coverage area can be obtained for the construction area even if the stereo camera does not rotate over a wide area and / or if the individual detection areas are limited.

[0043] To improve the accuracy of the virtual digital 3D terrain model, additional influencing factors, such as the position of the sun and wind direction, can be detected using appropriate sensors, and these additional influencing factors can be taken into account when preparing and / or updating / adjusting the virtual digital 3D terrain model.

[0044] In a virtual digital 3D terrain model, the actual tool position and / or actual tool inclination of the tool 1a of at least one construction machine 1, as detected by one or more stereo cameras, and a predetermined work position (e.g., a target drilling point or starting point) are presented based on the virtual digital 3D terrain model, and optionally, this can be presented when a predetermined minimum level of accuracy is achieved.

[0045] When the accuracy of the virtual digital 3D terrain model reaches a predetermined level, the frequency of detection by one or more stereo cameras and the associated information processing effort can, of course, be reduced.

[0046] Furthermore, using a virtual digital 3D terrain model as a basis, the positioning and orientation of the tool 1a of at least one construction machine 1 can be determined, and the target value can be matched with the actual value.

[0047] In particular, images from one or more stereo cameras can be used to identify the starting point of a specific civil engineering element (e.g., a pile or panel), and by using multiple stereo cameras, the X, Y, and Z coordinates of that starting point, as well as the orientation that should be considered for non-rotationally symmetric elements, can be detected.

[0048] As a result, adjustments between the actual starting point and the digital site plan can be made automatically and without manual intervention. For example, the dimensions of various elements can be automatically compared to confirm, for instance, that the drilling diameter is correct. Element IDs can also be automatically assigned between the digital site plan and the actual construction work, and this can be notified in an up-to-date manner (e.g., "Drilling is currently underway with a 13-inch pile"), and / or recorded and evaluated in other ways, for example, to determine construction progress.

[0049] Based on the alignment of a digital site plan of the construction area with a virtual digital 3D terrain model of the construction area, which is prepared based on image detection, positional deviations can be identified, the results of the alignment can be saved for the purpose of recording the work process, and / or can be used to correct the placement of construction machinery tools, at least when positional deviations occur. After the construction machinery has been placed within the construction area, it can, of course, be recalibrated / positioned using already constructed characteristic construction elements with known locations.

[0050] For example, for further locations within the construction area, the machine coordinate system, i.e., local coordinate system, of the construction machine 1 or tool 1a can be derived based on a virtual 3D terrain model. Using the derived machine coordinate system, the position and / or orientation of the construction machine 1 or tool 1a in the construction area BF can be locally determined without relying on satellite signals or manual calibration processes to determine its current position.

[0051] The present invention also relates to a system for determining the position and / or orientation of a tool 1a of a construction machine 1 within a construction area BF, particularly according to the method according to the present invention. The system comprises at least one stereo camera 2a;2b mounted on at least one construction machine 1 or mobile carrier to detect at least one detection area 2a1;2b1, preferably the work area of ​​the construction machine 1, within a construction area BF; at least one reference point 3 whose position relative to a given 3D world coordinate system is known and which can be recognized in the image of the stereo camera within the detection area 2a1;2b1 of at least one stereo camera 2a;2b; and a device configured to perform the steps of the method described above. The device can be housed, for example, in a construction area BF or a site container 5 located within it, and the signals of one or more stereo cameras 2a;2b can be transmitted to the device using a wireless transmission protocol. The same applies to the transmission of data generated by the device (for control and / or display) to one or more construction machines within the construction area.

Claims

1. A method for determining the position and / or orientation of tools of construction machinery within a construction area, At least one stereo camera is mounted on at least one construction machine or mobile carrier so that the stereo camera can detect at least one detection area within the construction area, preferably the work area of ​​the construction machine. The system provides at least one reference point whose position relative to a predetermined 3D world coordinate system is known and which can be recognized in the image of the stereo camera within the detection area of ​​the at least one stereo camera. In order to determine the transformation between the 3D world coordinate system and the 2D image coordinate system of the at least one stereo camera, the at least one stereo camera is calibrated based on the detection of the at least one reference point by the stereo camera and triangulation. Based on the detection of the construction area by the at least one stereo camera, a virtual digital 3D terrain model of the construction area is prepared by digital image processing, particularly stereoscopic viewing and image recognition. According to the virtual digital 3D terrain model, the predetermined working position and the detected actual tool position and / or actual tool inclination of the tool of the at least one construction machine are presented. method.

2. The method according to claim 1, A method for positioning and / or orienting the tools of at least one construction machine to match target values ​​with actual values, based on the virtual digital 3D terrain model.

3. The method according to claim 1, A method comprising: repeatedly (intermittently or continuously) detecting the construction area with at least one stereo camera, preferably while the stereo camera is moving or after it has moved and captured another detection area; and continuously expanding, updating, and aligning the virtual digital 3D terrain model by digital image processing (stereoscopic method) and image recognition based on the repeated detection of the construction area by at least one stereo camera.

4. The method according to claim 1, At least one additional stereo camera is provided, and the additional stereo camera is positioned to detect the area of ​​the construction area which is different from, or at least partially different from, the detection area of ​​the at least one stereo camera, and preferably the at least one reference point and / or further reference points. In order to determine the transformation between the 3D world coordinate system and the 2D image coordinate system of the at least one further stereo camera, the at least one further stereo camera is calibrated based on the detection of the at least one and / or further reference point and triangulation, Digital image processing (stereoscopic viewing) and image recognition are used to incorporate the detection of the construction area by at least one additional stereo camera into the virtual 3D terrain model of the construction area. method.

5. The method according to claim 1, A method for determining further influencing factors, such as the position of the sun or wind direction, and taking them into account when preparing and / or updating / aligning the virtual digital 3D terrain model.

6. The method according to claim 1, A method for deriving a machine coordinate system, i.e., a local coordinate system, for a construction machine or tool based on the aforementioned virtual digital 3D terrain model, and for locally determining the position and / or orientation of the construction machine or tool in the construction area using the derived machine coordinate system.

7. The method according to claim 1, A method for aligning a digital site plan of the construction area with a virtual digital 3D terrain model of the construction area to identify positional deviations.

8. The method according to claim 7, A method for saving the results of the alignment described above for the purpose of recording the work process.

9. The method according to claim 7, A method for correcting the placement of tools on a construction machine using the results of the alignment when a positional deviation occurs.

10. A system for determining the position and / or orientation of tools of construction machinery within a construction area, particularly according to the method described in claim 1, At least one construction machine or mobile carrier is equipped with at least one stereo camera capable of detecting at least one detection area within the construction area, preferably the work area of ​​the construction machine, A reference point whose position relative to a predetermined 3D world coordinate system is known and which can be recognized in the image of the stereo camera within the detection area of ​​the at least one stereo camera, An apparatus configured to perform the steps of the above method, Equipped with, Among those steps, In order to determine the transformation between the 3D world coordinate system and the 2D image coordinate system of the at least one stereo camera, the step of calibrating the at least one stereo camera based on detection of the at least one reference point by the stereo camera and triangulation, Based on the detection of the construction area by the at least one stereo camera, a step is made to prepare a virtual digital 3D terrain model of the construction area by digital image processing, particularly stereoscopic viewing and image recognition. The steps include presenting a predetermined working position and detected actual tool position and / or actual tool inclination of the tool of the at least one construction machine according to the virtual digital 3D terrain model, It includes, system.

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