Method for determining site-specific as-built performance values ​​for civil engineering construction sites

Abstract

To provide a novel method for determining a construction completion-time performance value specific to a place in an earthmoving construction site.SOLUTION: A method for determining a construction completion-time performance value specific to a place at an earthmoving construction site, includes: determining an earthmoving information model of the earthmoving construction site; determining positions of tools of earthmoving machines at the earthmoving construction site and in the earthmoving information model; determining a work task of the earthmoving machine at the construction site from the earthmoving information model; determining a part specific to a place of the work task determined at the construction site based on at least partially the position of the tool of the earthmoving machine in the earthmoving information model; and acquiring, from the earthmoving machine, at least one of an emission amount, an energy consumption or a lapsed time related to the part specific to the place of the work task determined at the construction site, as a construction completion-time performance value specific to the place.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to a method for determining a location specific as-built performance value at an earthworks construction site.

Background Art

[0002] At different types of earthworks construction sites, for example, different types of earthmoving machinery can be used to move soil or rock materials from one location to another, or to level or compact soil or rock materials. Examples of this type of earthworks construction site include, for example, a road construction site, as well as a building foundation construction site or a parking lot construction site. The working machines used at an earthworks construction site include, for example, excavators, dumpers, or other earthworks transport machines, and drum rollers.

[0003] As the demand for minimizing emissions in all economic fields, including earthworks construction sites, continues to grow, efficient construction at earthworks construction sites for minimizing emissions from these sites is also being demanded. With such developments, the selection of contractors for earthworks construction sites will also depend on the predicted and measured emissions required to complete the earthworks construction site. Contractors must know the emissions of the work phases required to complete an earthworks construction site in order to know the emissions generated by a planned project. In the future, contractors must find an efficient low-emission method for implementing an earthworks project in order to win the competitive bidding for earthworks construction site contracts.

Summary of the Invention

Problems to be Solved by the Invention

[0004] To achieve efficient construction at a geotechnical work site, an applicable and efficient working method for executing the work phases necessary to complete the geotechnical work site should be applied. However, geotechnical work sites are so diverse and different, the internal activities and tasks related to the construction of geotechnical work sites also vary, and furthermore, the activities executed outside the geotechnical work site, although they are activities related to the construction efficiency of the geotechnical work site, also vary due to the different interactions between the activities correlated with the construction efficiency of the geotechnical work site and the geotechnical work site. Therefore, it is an issue to surely select the applicable and efficient working method to be applied. These activities include, for example, the manufacture and transportation of materials to be used at the geotechnical work site. Accordingly, a solution that can be utilized to surely determine the efficiency of different working methods is needed. By using information or data or knowledge from various geotechnical work sites where different working methods have been used for the selection of the working method to be applied for efficiently constructing a specific geotechnical work site, a contractor who can suppress the emissions per project lower than competing companies can be selected.

[0005] An object of the present invention is to provide a novel method for determining the site-specific as-built performance values at a geotechnical work site.

Means for Solving the Problems

[0006] The present invention is characterized by the features of the independent claims.

[0007] The present invention is an idea of determining site-specific as-built performance values based on a geotechnical information model at a geotechnical construction site, including determining a geotechnical information model of the geotechnical construction site, determining the positions of the tools of the construction machinery at the geotechnical construction site and in the geotechnical information model respectively, determining the working tasks of the construction machinery at the construction site from the geotechnical information model, determining the site-specific part of the determined working tasks at the construction site based at least in part on the positions of the tools of the construction machinery in the geotechnical information model, and obtaining, as the site-specific as-built performance value, at least one of the emissions, energy consumption or elapsed time related to the site-specific part of the determined working tasks at the construction site from the construction machinery.

[0008] The advantage of the present invention is that it can accurately determine the site-specific as-built performance value at the construction site regarding at least one of the emissions, energy consumption or elapsed time related to the specific site-specific part of the determined working tasks. Thereby, information regarding the efficiency of different working methods can be accurately determined and this information can be used to select the working method to be applied for efficiently constructing another geotechnical construction site later. Also, when providing a sufficient measure for the site-specific as-built performance value at the geotechnical construction site, it is also possible to measure only one of the emissions, energy consumption or elapsed time, or a combination thereof, for each site, regarding one or more site-specific parts of the determined working tasks.

[0009] The dependent claims disclose some embodiments of the present invention.

[0010] According to an embodiment of the present method, the method includes determining a geotechnical information model of a geotechnical construction site, determining the positions of the tools of the construction machinery at the geotechnical construction site and in the geotechnical information model respectively, determining the work tasks of the construction machinery at the construction site from the geotechnical information model, determining a site-specific part of the determined work tasks at the construction site based at least in part on the positions of the tools of the construction machinery in the geotechnical information model, and obtaining, from the construction machinery, at least one of the discharge amount, energy consumption amount, or elapsed time related to the site-specific part of the determined work tasks at the construction site as a site-specific as-built performance value.

[0011] According to an embodiment of the present method, the method further includes determining the orientation of the tool of the construction machinery in at least one degree of freedom, and determining the site-specific part of the determined work tasks at the construction site is further based at least in part on at least one degree of freedom of the tool of the construction machinery.

[0012] According to an embodiment of the present method, determining the position of the tool of the construction machinery includes determining the three-dimensional position and orientation of the tool, and determining the site-specific part of the determined work tasks at the construction site is based at least in part on the three-dimensional position and orientation of the tool of the construction machinery.

[0013] According to an embodiment of the present method, the geotechnical information model of the geotechnical construction site includes at least one of a surface model or a geometric model.

[0014] According to an embodiment of the present method, the geotechnical information model is based on at least one of a geospatial information system (GIS), building information modeling (BIM), infrastructure or infrastructure building information modeling (I-BIM), civil information model (CIM), project information model (PIM), or a smart city platform.

[0015] According to an embodiment of the method, the method further includes determining at least one characteristic of a tool of the earthwork machine, and the at least one characteristic of the tool of the earthwork machine is at least one of weight, width, height, maximum length / extension, capacity, volume, amplitude, diameter, wear amount, service life, manufacturing material, or a predetermined service life.

[0016] According to an embodiment of the method, the method further includes determining at least one characteristic of the earthwork machine, and the at least one characteristic of the earthwork machine is at least one of weight, width, height, torque, maximum output, wear amount of the essential wear parts of the machine, service life of the essential wear parts of the machine, manufacturing material of the essential wear parts of the machine, predetermined service life of the machine, length of at least one boom part, track model, track wear amount, wheel model, or wheel wear amount.

[0017] According to an embodiment of the method, the method includes acquiring a plurality of at least one of emissions, energy consumption, or elapsed time related to a location-specific part of a determined work task at a construction site from the earthwork machine, and determining a total amount of the plurality of at least one of emissions, energy consumption, or elapsed time related to a location-specific part of a determined work task at a construction site acquired from the earthwork machine.

[0018] According to an embodiment of the method, the method further includes the earthwork machine completing a location-specific part of a determined work task at a construction site, and determining at least one amount of at least one of emissions, energy consumption, or elapsed time related to the completed location-specific part of a determined work task at a construction site from all of the acquired at least one of emissions, energy consumption, or elapsed time related to the location-specific part of a determined work task at a construction site for completing the location-specific part of a determined work task at a construction site.

[0019] According to an embodiment of the present method, the method further includes determining, respectively, at least one default amount of emissions, energy consumption, or elapsed time for completing the location-specific portion of the determined work task at the construction site, and comparing at least one amount of emissions, energy consumption, or elapsed time related to the completed location-specific portion of the determined work task at the construction site with at least one default amount of emissions, energy consumption, or elapsed time for completing the location-specific portion of the determined work task at the construction site, thereby determining the overall efficiency of the location-specific portion of the determined work task at the construction site.

[0020] According to an embodiment of the present method, at least one default amount of emissions, energy consumption, or elapsed time for completing the location-specific portion of the determined work task at the construction site is the average amount of the same work task by at least one of the same or different earthwork machines.

[0021] According to an embodiment of the present method, the method further includes determining, from the geotechnical information model, the mass volume to be moved to complete the location-specific portion of the determined work task at the construction site, and comparing the mass volume to be moved to complete the location-specific portion of the determined work task at the construction site with at least one amount of emissions, energy consumption, or elapsed time related to the completed location-specific portion of the determined work task at the construction site, thereby determining the mass efficiency of the location-specific portion of the determined work task at the construction site.

[0022] According to an embodiment of the present method, the present method further includes completing a plurality of site-specific portions of a determined work task at a construction site, determining, from a geotechnical information model, a mass volume to be moved for each of the plurality of site-specific portions of the determined work task at the construction site, and determining a degree of completion of the determined work task at the construction site by comparing a total mass volume moved with respect to the plurality of completed site-specific portions of the determined work task at the construction site with a mass volume to be moved to complete all the site-specific portions of the determined work task at the construction site.

[0023] According to an embodiment of the present method, the earthwork machine is a first earthwork machine, and the present method further includes obtaining, from at least one second earthwork machine, at least one of an emission amount, an energy consumption amount, or an elapsed time related to a site-specific portion of a determined work task at the construction site of the first earthwork machine.

[0024] According to an embodiment of the present method, the at least one second earthwork machine is an earthwork transporter, and at least one of the emission amount, the energy consumption amount, or the elapsed time related to the site-specific portion of the determined work task at the construction site of the first earthwork machine with respect to the second earthwork machine further includes at least one of the emission amount, the energy consumption amount, or the elapsed time related to the transported material.

[0025] According to an embodiment of the present method, the present method further includes determining at least one portion of the earthwork machine related to the movement of a tool of the earthwork machine, determining at least one of acceleration data or angular velocity data of the movement of at least one portion of the earthwork machine for a site-specific portion of the determined work task at the construction site, calculating a movement difference value of at least one of the acceleration data or the angular velocity data for the site-specific portion of the determined work task at the construction site, and determining a performance coefficient for the site-specific portion of the determined work task at the construction site from the movement difference value.

[0026] According to an embodiment of the present method, the earthwork machine is an excavator, and at least one part is at least one of a boom part, a joint of the boom structure, an upper carriage of the excavator, or an undercarriage of the excavator.

[0027] According to an embodiment, the work task is an operation or a series of operations that the earthwork machine should perform at the earthwork site in order to advance the completion of a construction site or an area to be worked on within the construction site, an area unit within the area to be worked on within the construction site, or at least one layer of any of these.

[0028] Hereinafter, with reference to the accompanying drawings, the present invention will be described in more detail by preferred embodiments.

Brief Description of the Drawings

[0029]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Modes for Carrying Out the Invention

[0030] For clarity, the figures show some embodiments of the present invention in a simplified form. Similar elements are identified by like reference numerals in the figures.

[0031] FIG. 1 is a schematic side view of an excavator 2 on an earthwork site 1 intended to operate the excavator 2. The excavator 2 is merely an example of an earthmoving machine related to the use of the solutions described herein, and the solutions described can be applied in connection with any other earthmoving machine such as a bulldozer, wheel loader, motor grader, roller, pile driver, deep stabilizer, surface excavator, transporter, transport truck, dump truck, rock crusher, paving machine, backhoe loader, earthmoving transporter, or any other earthmoving machine that participates in the work at the earthwork site 1 at some point.

[0032] The excavator 2 includes a movable carriage 3 including an undercarriage 3a, i.e., a lower carriage 3a, and an upper carriage 3b. The lower carriage 3a includes caterpillar bands, but may also be provided with wheels, for example. The upper carriage 3b is connected to the lower carriage 3a by a rotating axle 4 of the upper carriage 3b. The upper carriage 3b can rotate relative to the lower carriage 3a about a rotation axis 5, as schematically indicated by the double-headed arrow R. The rotation axis 5 coincides with the central axis of the rotating axle 4.

[0033] The excavator 2 further includes a boom 6 connected to the upper carriage 3b and configured to swing with the upper carriage 3b. The boom 6 can include at least a first boom part 6a. The boom 6 can also include further boom parts such as a second boom part 6b. The boom 6 can be raised and lowered relative to the upper carriage 3b, as schematically indicated by the double-headed arrow L.

[0034] The second boom part 6b can be connected to the first boom part 6a by a joint 7 that allows the second boom part 6b to pivot relative to the first boom part 6a, as schematically indicated by the double arrow T7. At the distal end of the second boom part 6b, there is a tool of the excavator 2, which is the bucket 8 in this case, and between the bucket 8 and the second boom part 6b, there can be a joint 9 that allows the bucket 8 to pivot relative to the second boom part 6b, as schematically indicated by the double arrow T9. In connection with the joint 9, there can also be other joints or mechanisms that allow, for example, the bucket to tilt laterally.

[0035] On the carriage 3, there can be a control cabin 10 for the operator 11 of the excavator 2. The control cabin 10 can have a moving configuration that allows, for example, the vertical position of the control cabin 10 to be adjusted relative to the carriage 3. Similarly, the excavator 2 can be remotely operable without a control cabin or can be autonomous.

[0036] The excavator 2 further includes at least one control unit 12 configured to control the operation of the excavator 2, such as the movement of the carriage 3, the boom 6, and the bucket 8, in response to received control actions. The control unit 12 forms at least a part of the control system of the excavator 2. At least one part or component of the excavator, such as the undercarriage 3a, the upper carriage 3b, the boom 6 and its parts 6a, 6b, the bucket 8, or a joint connected to any one of these parts or components, can be provided with at least one sensor for measuring the acceleration data or angular velocity data of the movement of each part or component of the excavator 2.

[0037] An excavator 2, or any other earthmoving machine that performs site-specific earthworks at a work site, needs to determine the position of the tool of the earthmoving machine at the earthworks site 1. In these earthmoving machines, this determination can be made in various ways. According to one option, the position of the tool of the earthmoving machine at the earthworks site 1 is directly determined, or according to another option, the position of the earthmoving machine at the earthworks site 1 is determined, and the position of the tool of the earthmoving machine is determined for that machine. An earthmoving machine such as the excavator 2 may be intended to utilize a satellite-based positioning system such as a Global Navigation Satellite System (GNSS), and can include a plurality of satellite receiving devices such as one or more antennas 13. For example, one or more antennas 13 can be arranged on the upper carriage 3b. The satellite-based positioning system GNSS can be used to determine the position and orientation of the excavator 2 at the earthworks site 1, and then the position of the tool of the excavator 2 is determined by a control system such as the control unit 12 of the excavator 2. In addition to or instead of this, one or more tracking devices 14 that can track the position and orientation of an earthmoving machine such as the excavator 2 at the earthworks site 1 alone or in combination with at least one other device can also be used to determine the position and orientation of the tool of the earthmoving machine such as the excavator 2 at the earthworks site 1. Examples of this type of device include cameras, stereo cameras, lidars, radars, and tachometers. Such (single or multiple) devices can be set on the excavator 2 or on the earthworks site 1. The tracking device further requires information regarding the position within the construction site to track the position of an earthmoving machine such as the excavator 2. Methods for determining the position of the tracking device include various ones such as a reference position within or near the construction site, and satellite-based positioning. Generally, determining the position of the tracking device is well-known to those skilled in the art, and thus will not be discussed in more detail herein.

[0038] Since the position of the transported material is mostly changed by the earthwork machinery that levels the heap of the transported material over a wide area to determine where to level the material, transport vehicles such as dump trucks or lorries are examples where the earthwork machinery does not perform accurate site-specific earthwork. The transport vehicle still knows exactly where the heap of material was unloaded. Also, the transport vehicle may perform or execute accurate site-specific earthwork so that other earthwork machinery does not change the position of the unloaded material. Hereinafter, one such case regarding unloading the heap of material by low-speed driving will be described. What is essential for this type of material transport earthwork machinery is that it must know where the transported material comes from, and the emissions, energy consumption and / or elapsed time related to the transported material, such as the emissions, energy consumption and / or elapsed time for preparing the transported material and loading it onto the transport vehicle, and the emissions, energy consumption and / or elapsed time of the transport vehicle related to the transported material. For example, when the transport vehicle transports the heap of material to the excavator 2, the excavator 2 receives data on the emissions, energy consumption and / or elapsed time of the heap of material, and the mass volume of the heap of material by some means. For example, the transport vehicle can inform the excavator directly, or via the server at the earthwork site 1, of the position of the heap, the mass volume of the heap, and the emissions, energy consumption and / or elapsed time related to the heap. Then, when the excavator 2 receives or searches for the data and associates its own emissions, energy consumption and / or elapsed time with each area or area unit, it can associate the emissions, energy consumption and / or elapsed time related to the material with the work target area, or the area unit within the work target area, or each area or area unit of the work target. The position data regarding the location of the destination of the heap of material by the transport vehicle can be collected by any known method. For example, a transport vehicle equipped with positioning equipment can recognize the position of the rear end of the platform, and in some cases, the orientation or azimuth, and the rear end of the platform can be regarded as the tool tip of the transport vehicle. Therefore, when the heap of material is unloaded, the position of the rear end of the platform, and in some cases, the direction or azimuth, are detected and can be used to determine the position of the unloaded heap of material.Note that this position can be the point position that determines the center of the pile, or the point position with circle radius data. In many cases, this is sufficient when the material is basically unloaded in the same location. Alternatively, an operator of the transport vehicle can use suitable equipment, such as a hand tool, to determine the position of the unloaded material pile as either the point position, or in some cases the point position with circle radius data, or the position of the surface area, in order to determine where the material pile was unloaded.

[0039] On the other hand, when the transport vehicle is driven at a low speed while unloading the material, this position can be the surface area. In this case, the width of the rear end of the platform can also be known. When the position of the unloaded material is the surface area, this position can cover the work area or area units within the work area, or one or more areas or area units of the work object. Also, it is not always necessary for the excavator 2 to receive data regarding the material. The transport vehicle or its operator can also notify the server at the geotechnical construction site 1 of the position of the work area or area units within the work area, or one or more areas or area units of the work object, the discharge amount regarding the material, the energy consumption, and / or the elapsed time and the mass volume of the material, as well as data regarding how the material was distributed between one or more areas or area units of the work object.

[0040] Also, in each of these alternatives for determining the position of the pile, the position information can further include information regarding which layer of the target area the pile of material was transported for. This layer data can be derived, for example, by comparing the completion time or timestamp of the work task that has been carried out or completed, i.e., the timestamp of the unloading of the pile of material, or the notification time or timestamp regarding the unloading of the pile of material, with the data regarding the completion rate at that location of the geotechnical construction site. The layer will be described in more detail later, for example, with respect to FIG. 4. Alternatively, when the excavator 2 used to level the pile of material is present near the pile of material that has been unloaded, the excavator 2 can assist in determining the position of the pile of material by the transport vehicle and the layer of interest, and the transport vehicle can provide the mass volume of the pile, as well as the discharge amount, energy consumption, and / or elapsed time associated with the pile, directly to the excavator 2 or via the server of the geotechnical construction site 1.

[0041] FIG. 2 is a schematic top view of the geotechnical construction site 1. Hereinafter, the geotechnical construction site 1, which may also be abbreviated as the construction site 1, has the form of a road construction site in FIG. 2. The road construction site in FIG. 2 is divided into a plurality of continuous areas by horizontal lines in the longitudinal direction of the road. Usually, these continuous areas are called pile spacings and are used to indicate the position of the road. The length of one pile spacing can be, for example, about 10 meters, but can vary depending on, for example, the type of ground or construction method. The shape of the road is constrained by the center line of the road such that the boundary line of the road is at a certain distance from the center line.

[0042] Typically, each pile division forms its own work target area, and thus has a limited-sized area where specific work tasks are performed to advance the progress and completion of construction site 1. The work tasks are the operations or series of operations that earthmoving machinery should execute or perform in each work target area to advance the progress of each work target area related to the work task, or a part of the work target area related to the work task, that is, the progress of the area unit within the work target area. Each work target area forms an area associated with data representing the efficiency of one or more of the work methods applied in that area, and the one or more efficiencies can be represented by site-specific as-built performance values. The actual size of the work target area depends on the desired accuracy of the site-specific as-built performance value to be determined.

[0043] In the example of FIG. 2, some work target areas of construction site 1 of the road construction are schematically shown by reference signs AW1, AW2, AW3, and AW4. The reference sign AW1 indicates the first work target area, the reference sign AW2 indicates the second work target area, the reference sign AW3 indicates the third work target area, and the reference sign AW4 indicates the fourth work target area. Hereinafter, in this specification, the reference sign AW can generally be used to indicate any one work target area, or two or more work target areas. The target progress direction of construction site 1 in FIG. 2 is schematically shown by arrow DOP.

[0044] FIG. 3 is a schematic top view of the first work target area AW1 of construction site 1 in FIG. 2. The first work target area AW1 is further divided into a plurality of area units, that is, work target area units. In the embodiment of FIG. 3, there are a total of nine area units AU1, AU2, AU3, AU4, AU5, AU6, AU7, AU8, and AU9, which together form the first work target area AW1 in the horizontal direction of construction site 1. Hereinafter, in this specification, the reference sign AU can generally be used to indicate any one area unit or two or more area units.

[0045] Generally, the work target area AW can itself be a single area unit AU, or the work target area AW can be divided into, for example, two, three, four, six, eight, or twelve area units AU, or can be divided into a number of square meter area units AU far exceeding 50 area units AU per pile according to, for example, the width of the road. Other work target areas can also be an area unit AU itself or can be divided into a plurality of area units AU respectively. By dividing the work target area into a plurality of area units AU with a small surface area, the location-specific accuracy of determining the as-built performance values specific to the location to be determined is improved, and thus the location-specific efficiency accuracy at the construction site is also improved. In the example of FIG. 3, the division from the first work target area AW1 into a plurality of area units AU1 to AU9 with a small surface area is carried out in both the progress direction DOP and its lateral direction, but generally, the division of the work target area AW into a plurality of area units AU with a small surface area can also be carried out in only one of these directions.

[0046] FIG. 4 is a schematic cross-sectional view of the first work target area AW1 in FIG. 2. FIG. 4 shows layers of a plurality of different materials, more precisely, a first layer or bottom layer BL, a second layer or intermediate layer ML, and a third layer or top layer TL, all of which together form the first work target area AW1 in the vertical direction of the construction site 1. FIG. 4 represents the progress of the road construction work along the road. The road construction work proceeds step by step, that is, little by little. The different layers can be related to data representing the location-specific as-built performance values for each work target area AW1, or for specific area units AU1 - AU9 of each work target area AW1. For clarity, the cross-sectional hatching of the different layers in FIG. 4 is omitted. The geotechnical construction site 1 and its one or more work target areas, as well as the area units of each work target area and the different layers of the work target area, can be designed or determined within the geotechnical information model. The geotechnical information model is a digital design drawing or model representing the targeted, i.e., completed, construction site 1. The geotechnical information model can represent, for example, the material to be applied to a specific layer within a specific area of the construction site 1, the target dimensions of a specific layer within a specific area of the construction site 1, the target rated load of a specific layer within a specific area of the construction site 1, and, optionally, the specific working method to be applied to complete a specific layer within each specific area of the construction site 1. The geotechnical information model can also include the specific predetermined work tasks that need to be executed to complete the construction site or some specific layer or specific area thereof. The geotechnical information model can be updated, and additional information such as as-built data representing how the geotechnical construction site was actually constructed can be added during construction. The work tasks can also be updated during construction with respect to emissions, energy consumption, and / or elapsed time.

[0047] The geotechnical information model includes at least one of, for example, a surface model and a geometric model. The surface model represents the shape of a single surface as, for example, a 3D mesh on construction site 1. The surface represents, for example, the shape of the top layer of paved asphalt. The geometric model represents the geometric relationships of the different in-model elements such as layers, surfaces, 2D and 3D positions, lines, and meshes in various areas of construction site 1. These elements represent, for example, the center line of a road, the position of a drainage pipe, the position of a utility pole, etc.

[0048] The geotechnical information model applicable in the solutions disclosed in this specification can be based on at least one of models such as a Geospatial Information System (GIS), a Building Information Modelling (BIM), an Infra or Infrastructure Building Information Modelling (I-BIM), a Civil information Model (CIM), a Project Information Model (PIM), and a SmartCity Platform, which are schematically shown in FIG. 5. Generally, these geotechnical information models are well known to those skilled in the art and thus will not be discussed in more detail herein.

[0049] To enable a reliable selection of efficient working methods to be applied for performing different work tasks, and further to provide information for completing different types of construction sites, there should exist methods applicable for determining the efficiency of different working methods or means applied at a geotechnical construction site. These methods or means can be utilized for the selection of efficient working methods or means to be applied for efficiently constructing future geotechnical construction sites. By combining information from various working methods for different work tasks determined in a geotechnical information model planned for a certain geotechnical construction site, a working method for each work task or work phase required to complete the planned geotechnical construction site can be selected, and thereafter, for example, the emissions for each work task or work phase related to the planned future geotechnical construction site can be predicted more specifically. A solution for providing data or information or knowledge regarding emissions or other factors related to various working methods at a geotechnical construction site is a method for determining the site-specific as-built performance value at the geotechnical construction site. The site-specific as-built performance value indicates the efficiency of one or more working methods applied in a specific area where the location within the construction site is known. Any necessary or optional operations for determining the site-specific as-built performance value at the geotechnical construction site can be performed, for example, in a control unit of a geotechnical machine. The method is - determining a geotechnical information model of the geotechnical construction site, and - determining the position of the tool of the geotechnical machine at the geotechnical construction site or in the geotechnical information model, and - determining, from the geotechnical information model, the work tasks of the geotechnical machine at the construction site, and - determining, at least partially based on the position of the tool of the geotechnical machine in the geotechnical information model, the site-specific part of the determined work task at the construction site, and - obtaining, from the geotechnical machine, at least one of emissions, energy consumption, or elapsed time related to the site-specific part of the determined work task at the construction site as the site-specific as-built performance value, and includes.

[0050] In the method of the present disclosure schematically shown in FIG. 6, at least one geotechnical information model designed for the geotechnical construction site is selected for use by determining the geotechnical information model of the geotechnical construction site. The at least one geotechnical information model can be based on, for example, one of the models described above.

[0051] Also, the position of the tool of the earthwork machine at the earthwork construction site is determined. The position of the tool of the earthwork machine can be determined by using, for example, a satellite-based positioning system and / or at least one tracking device as described above. Further, the position of the tool of the earthwork machine in the geotechnical information model is also determined. The position of the earthwork machine in the determined geotechnical information model provides one position information indicating the position of the earthwork machine in the geotechnical information model by providing an instruction regarding the actual position of the tool at the construction site.

[0052] In this method, the work task of the earthwork machine at the construction site is also determined. The work task is determined from the geotechnical information model. The work task can be determined, for example, by the operator of the earthwork machine. Alternatively, the work task can also be determined, for example, by the operator's supervisor or work manager for the operator. Since the position of the earthwork machine is known, the work task can also be determined by the server at the earthwork construction site, and the work task to be performed next at that location can also be retrieved from the data regarding the degree of completion of that location of the earthwork construction site collected from the earthwork construction site. Alternatively, the server can propose all the work tasks that each earthwork machine can perform in the vicinity, and then the operator, supervisor or work manager can determine which work task to select as the work task of the earthwork machine to be operated next to determine the work task.

[0053] As described above, the work task is an operation or a series of operations that a construction machine should perform or carry out at a specific location on the construction site in order to advance the completion of the construction site. This operation can include specific processing to be followed for materials to be placed or placed in the work area, such as scooping up soil to be removed from the construction site away from the work area, or scooping up gravel to be spread on the construction site in the work area. Once the work task of the construction machine is determined, the work area can be determined, for example, based on the determined work task and the current position of the construction machine. The determined work task covers one or more work areas, or one or more area units within the work area, or one or more layers within the work area, and represents one or more operations to be performed there. The work area or the area unit within the work area represents one or more location-specific parts of the determined work task according to the work task.

[0054] The determined work task is the work task determined within the geotechnical information model of the geotechnical construction site. Therefore, the geotechnical information model is configured to have, i.e., include, the specific work tasks that need to be executed to complete the construction site or some specific layer or area thereof. The construction machinery is intended to follow the work plan determined within the geotechnical information model as long as it operates at the construction site to complete the construction site or some specific layer or area thereof. As described above, since the position of the tool of the construction machinery is known at the construction site 1, the position of the tool of the construction machinery can be determined within the geotechnical information model. Based at least in part on the position of the construction machinery within the geotechnical information model, the location-specific part of the determined work task at the construction site is further determined. The location-specific part of the determined work task herein means at least one operation to be executed for that specific location at the specific location related to the determined work task. Alternatively, the specific location can also mean a specific work target area, a specific area unit within the specific work target area, a specific layer within the specific work target area, or a specific layer within a specific area unit of the specific work target area, depending on the accuracy of the description of the work task and / or the intended location-specific accuracy of the location-specific completion performance value.

[0055] There are multiple methods for accurately determining the location-specific part of a determined work task. The operator can teach a control system such as the control unit 12 by using some input device or input configuration to indicate an area or area unit. By teaching a control system such as the control unit 12 or discovering the work phase automatically, the location-specific part of the determined work task to be performed, that is, an area or area unit, can be determined. Since the work tasks executed by the earthwork machine are known, the work target area is also known. When the tool of the earthwork machine moves to an external area of the work target area in a certain work phase, the work phase in this external movement is either the disposal of the mass volume or the acquisition of the mass volume regarding the determined work task, and the other work phases relate to the location-specific part of the determined work task. There can also be some other known technologies or combinations of these technologies for determining the location-specific part, that is, an area or area unit.

[0056] Furthermore, obtain at least one of the emissions, energy consumption, or elapsed time related to the location-specific part of the determined work task at the construction site from the earthwork machine as the location-specific as-built performance value. Here, the emissions and / or energy consumption and / or elapsed time related to the operation of performing the location-specific part of the determined work task at a specific location within the construction site are determined. If the specific location corresponding to the position of the determined tool of the earthwork machine is known and the realized emissions and / or energy consumption and / or elapsed time related to this specific location of the location-specific part of the determined work task are known, the location-specific as-built performance value can be obtained.

[0057] According to an embodiment, based on the information received from the sensor array and the control commands executed by the control unit 12 of the earthwork machine, it is possible to identify the working phase of the work task to be executed, and based on the position of the tool of the earthwork machine at the earthwork site, the identified working phase, and the working operation that needs to be executed to complete a certain specific area of the construction site or a certain specific layer or a certain specific layer, the work target area can be determined. The sensor array described herein means, for example, pressure sensors, inertial measurement units, and other sensors applied in the earthwork machine to indicate the position, orientation, and / or movement of mechanical parts supporting the tool.

[0058] Therefore, the data of the site-specific part of the determined work task obtained from the earthwork machine regarding at least one of the discharge amount, energy consumption, or elapsed time can be related to the site-specific part of the determined work task in the geotechnical information model.

[0059] The site-specific as-built performance values regarding the exhaust gas and / or energy consumption and / or elapsed time related to the site-specific part of the determined work task provide a measure or value or indication regarding the efficiency of the (single or plural) working method or (single or plural) working means applied to execute the site-specific part of the determined work task related to a specific location within the construction site. The smaller the realized discharge amount and / or energy consumption and / or elapsed time, the higher the efficiency of the (single or plural) working method or (single or plural) working means applied to the site-specific part of the determined work task. For example, the site-specific as-built performance value can be a numerical value representing the relationship or some other dependency between at least one of the realized discharge amount, energy consumption, or elapsed time related to the site-specific part of the determined work task and, for example, the mass volume of the processed material or the surface area of the completed area, with respect to the site-specific part of the determined work task.

[0060] According to one embodiment, the realized emissions and / or energy consumption and / or elapsed time associated with the location-specific portion of the determined work task can be presented as one, two, or three independent location-specific as-built performance values, or as a single combined location-specific as-built performance value. A single location-specific as-built performance value can be a direct or weighted combination of some kind of realized emissions and / or energy consumption and / or elapsed time.

[0061] Examples where weighted combinations can be used are the weighting of elapsed time and emissions. If a large excavator uses some specific time and some specific emissions to perform the location-specific part of a determined work task, when using a small excavator, the same location-specific part of the determined work task will be performed, for example, with twice the time and 70% of the emissions. Then the question becomes which excavator should be chosen when planning future work. If it is determined that the work is important when planning the construction site work schedule, it may be useful to choose the large excavator. If it is determined that the work is not important when planning the construction site work schedule, it is also possible to choose a small excavator with twice the elapsed time but less emissions. Still, the result of which option to choose depends on the work task and how to weight the elapsed time against the emissions in the work task. Realistically, there may be situations where for some reason the small excavator is not available or is too far away, so it may be less costly to choose the large excavator to perform the work task. Regarding plan changes, there seems to be a difference between the predicted emissions and the measured emissions, and there also seems to be a difference between the predicted elapsed time and the measured elapsed time. Furthermore, if the small excavator is electric and the large excavator is diesel, it is wise to also consider the energy consumption and apply some weighting to this as well as to the emissions and elapsed time. Additionally, if the construction contract at the earthwork site includes emissions limits and time limits, when the work task is not important regarding the schedule, the weight of emissions is considered to be the highest, so it can be most reasonable to choose the electric small excavator to perform the work task.

[0062] According to an embodiment, the emission amount means, for example, the carbon dioxide emission amount or the nitrogen emission amount, or both of them. The emission amount per unit of fuel used per earthmoving machine can be measured from the amount of fuel used per earthmoving machine after previously measuring from the exhaust gas. Such an emission amount having requirements in the contract can be measured by some means. In some cases, it may also be necessary to predict some emission amount from the energy consumption such as, for example, the diesel oil or electricity used.

[0063] According to an embodiment, the energy consumption can mean the measured electrical energy and / or fuel consumption of the earthmoving machine, or the electrical energy and / or fuel consumption of the earthmoving machine calculated based on the electricity used by the earthmoving machine.

[0064] According to an embodiment, the elapsed time can mean the used working time measured, for example, by the operation time meter or the operating time meter of the earthmoving machine. Instead of or in addition to this, the elapsed time regarding each site-specific part of the determined work task can also be inferred from the work cycle of the earthmoving machine and the position of the tool in each part of the work cycle within the operating time of the earthmoving machine.

[0065] Determining the position of the tool of the earthmoving machine at the earthwork site can be carried out in various ways as well as just determining the work cycle.

[0066] According to the embodiment of determining the position of the tool in the construction site and the geotechnical information model, the operator of the earthmoving machine can specify that the tool exists at a specific position in the geotechnical information model applied during the execution of the work, for example, by the tool contacting a specific working area, each area unit within the working area, or at least one of them, or a specific layer in at least one of them.

[0067] According to an embodiment for determining the position of a tool at a construction site, the position and orientation of an earthmoving machine at the construction site are determined, for example, in a construction site coordinate system CSCS, and further the position of the tool of the earthmoving machine in a machine coordinate system MCS is determined. The construction site coordinate system CSCS can be fixed to some stationary object within the construction site. The machine coordinate system MCS can be fixed to some specific point within the earthmoving machine. The site coordinate system CSCS and the machine coordinate system MCS are schematically shown in FIG. 1. When the position of the tool in the machine coordinate system MCS is known, the position of the tool at the construction site is known based on the dependency between the construction site coordinate system CSCS and the machine coordinate system MCS, and thus the position of the tool can be related to a specific work target area at the construction site, a specific area unit within the work target area, or a specific layer in at least one of these. The position of the tool at the construction site indicates the position of the tool in the earthwork information model. Similarly, when the position of the tool at the construction site is known, the operator can input the position to be worked on by some means within the work cycle by teaching the machine the work cycle. These input means can be contact with each area in the construction site representation in a button, voice command, earthwork information model or any type of map.

[0068] According to an embodiment, the position and orientation of an earthmoving machine at a construction site can be determined by using a satellite-based positioning system GNSS (Global Navigation Satellite System).

[0069] According to an embodiment, the position and orientation of an earthmoving machine at a construction site 1 can be determined by at least one device having a known or derivable position in the construction site coordinate system CSCS of the construction site 1, which can track the position and orientation of the earthmoving machine at the construction site 1 alone or in combination with at least one other device. Examples of this type of device are cameras, stereo cameras, lidars, radars, and tachometers. To determine the position of such a device, for example, satellite-based positioning and / or detectable markers known within the construction site coordinate system CSCS can be used.

[0070] According to an embodiment, after the position and orientation of the earthmoving machine at the construction site have been determined, the position of the tool of the earthmoving machine can be determined, for example, by a sensor array indicating the position and orientation of a machine part supporting the tool determining the position of the tool of the earthmoving machine in the machine coordinate system MCS.

[0071] According to an embodiment for determining the position of a tool at a construction site, the position of the tool at the construction site is determined by at least one device having a known position in the construction site 1 within the construction site coordinate system CSCS and configured to track the position of the tool of the earthmoving machine at the construction site 1 alone or in combination with at least one other device. Alternatively, the position of the tool of the earthmoving machine is determined using a sensor array indicating the position and orientation of a machine part supporting the tool after tracking the position of the earthmoving machine at the construction site 1. Thereafter, the determined position of the earthmoving machine at the construction site 1 can be associated with a specific work area, a specific area unit, or a specific layer in at least one of these in the construction site 1 and the earthwork information model.

[0072] According to an embodiment, the method further includes determining the orientation of the tool of the earthmoving machine in at least one degree of freedom, and determining the location-specific part of the determined work task at the construction site is at least partially based on at least one degree of freedom of the tool of the earthmoving machine.

[0073] Therefore, according to this embodiment, the orientation of the tool at the construction site 1 is determined with at least one degree of freedom, and the choice of which degree of freedom to use for each tool becomes the most useful degree of freedom for the target work task, such as the degree of freedom useful for determining, for example, the work cycle and / or the location-specific part of the determined work task at the construction site. For example, by utilizing the change in the pitch angle of the bucket 8 of an excavator or a wheel loader, it is possible to determine whether these earthmoving machines can transport materials. Some earthmoving machines, such as more advanced excavators, have three different degrees of freedom to rotate the bucket 8, so that the bucket 8 can have three possible different orientation directions such as roll, pitch, and yaw. On the other hand, some tools, such as the drum of a drum roller, may only be able to change their orientation in one direction.

[0074] The determination of the orientation of the tool of the earthmoving machine can further enhance the accuracy of the determined position of the tool so that, for example, the decisive factor for determining the work target area where the work task is performed by the earthmoving machine, the area unit of the work target area, or some specific layer in at least either of them is the orientation of the tool. For example, even if the position of the tool is determined to be within some area unit of the work target area, knowing the orientation of the tool can determine that the work task is actually performed in another area unit of the work target area. Furthermore, for example, in the case of the bucket 8, the area of the tool that is actually working may be the tip of the tool, or the entire bottom of the bucket 8, or the side surface of the bucket. Therefore, the orientation of the tool helps to determine the position of the tool so that it can determine which area of the tool is actually working. Therefore, the determination of the location-specific part of the determined work task at the construction site is at least partially further based on at least one degree of freedom of the tool of the earthmoving machine.

[0075] According to an embodiment, determining the position of a tool of an earthmoving machine includes determining the three-dimensional position and orientation of the tool, i.e., determining the position and orientation of the tool in six degrees of freedom (6DOF), and determining the site-specific part of the determined work task at the construction site is at least partially based on the three-dimensional position and orientation of the tool of the earthmoving machine. According to this embodiment, by determining the position and orientation of the tool in the construction site 1 in three dimensions, the position and orientation of the tool are determined in the horizontal direction, the vertical direction, and the direction perpendicular to both the horizontal and vertical directions. Therefore, the determination of the site-specific part of the determined work task at the construction site is at least partially based on the three-dimensional position and orientation of the tool of the earthmoving machine. As a result, for example, in the horizontal direction, the position of the earthmoving machine can be associated with a specific area unit of a specific work target area within the construction site 1, and in the vertical direction, the position of the earthmoving machine can be associated with a specific layer in the above-mentioned specific area unit of a specific work target area within the construction site 1. In this way, the accuracy of the determined position and orientation of the earthmoving machine is improved.

[0076] When determining the position of a tool of a geotechnical machine in the three dimensions, i.e., with six degrees of freedom, the point, line, or area of the tool whose position is to be determined can be selectable by the operator of the geotechnical machine or can be a pre-determined point, line, or area within the tool specific to the tool. In an excavator and a wheel loader, the point can be, for example, the center point of the tip of the bucket 8, the line can correspond to the position of the tip of the bucket, and the area can correspond to the area of the bottom of the bucket 8. In a geotechnical transporter such as a dump truck, the point can be the center point of the tip of the rear end of the platform, and the line can correspond to the rear end of the platform. In a drum roller, the point can be the center point of the drum, or the line can be a line having the width of the drum and corresponding to the lowermost part of the drum. When compacting soil using a planar compressing device such as a soil compressing plate, the area of the tool can be the area of the compressing plate. In a surface drill rig, the point can be the end tip of the drill bit.

[0077] According to one embodiment, the method further includes determining at least one characteristic of a tool of the earthmoving machine, where the at least one characteristic of the tool of the earthmoving machine is at least one of weight, width, height, maximum length / extension, capacity, volume, amplitude, diameter, wear amount, service life, manufacturing material, or a predetermined service life. Thus, according to this embodiment, only one of the listed characteristics of the tool of the earthmoving machine, or two or more of the listed characteristics of the tool of the earthmoving machine are determined. Which one, two, or more than two characteristics are determined depends on the situation and can thus be selected ad hoc. The at least one characteristic of the tool of the earthmoving machine can be used when evaluating data regarding the discharge amount, energy consumption, and / or elapsed time related to the work area. Further, this data can also be compared with each other data. The each other data can be, for example, similar work tasks performed by some other operator having the same or different characteristics. Similarly, this data can also be compared with similar work tasks performed by the same operator using earthmoving machines with different characteristics, i.e., small earthmoving machines, or large earthmoving machines, and / or earthmoving machines having different energy sources.

[0078] The weight, width, height, maximum length / extension, capacity, volume, amplitude and diameter of the tool of the earthmoving machinery are related to different dimensions of the tool of the earthmoving machinery, and these characteristics provide a direct measure for determining the efficiency of the tool of the earthmoving machinery from the perspective of the resulting emissions or energy consumption, or the elapsed time used to perform the intended (single or multiple) operations. For example, when the excavator is large and the excavation area is wide, the larger the size of the bucket of the excavator, the shorter the elapsed time used to complete the excavation operation, but the emissions or energy consumption per bucket movement will be higher. The listed characteristics can also be used to determine an estimated value of at least one of these emissions, energy consumption or elapsed time when other means of directly measuring or calculating at least one of the emissions, energy consumption or elapsed time related to performing the intended operation are not available. Also, historical data regarding the use of a specific tool for performing a specific work task can be applied here. From the perspective of selecting a working method for estimation, the more other respective data to be compared, the better the results can be achieved.

[0079] The wear amount, service life, manufacturing material and predetermined service life of the tool of the earthmoving machinery are related to different characteristics of the tool of the earthmoving machinery, which are at least indirectly related to the efficiency of the tool of the earthmoving machinery. The higher the wear amount or the elapsed service life already used, or the lower the remaining available predetermined service life, the lower the expected efficiency of the tool used. Furthermore, the manufacturing material of the tool can have the effect of increasing or decreasing the wear amount or the expected life of the tool, and can also have the effect of increasing or decreasing emissions, energy consumption and / or elapsed time, for example, in the case of the manufacturing material problem of a drill bit.

[0080] According to one embodiment, the method further includes determining at least one characteristic of the earthmoving machine, and the at least one characteristic of the earthmoving machine is weight, width, height, torque, maximum output, wear amount of the machine's essential wearing parts, service life of the machine's essential wearing parts, manufacturing material of the machine's essential wearing parts, predetermined service life of the machine, length of at least one boom part, track model, track wear amount, wheel model, or wheel wear amount, among others. Thus, according to this embodiment, only one of the listed characteristics of the earthmoving machine, or two or more of the listed characteristics of the earthmoving machine are determined. Which one, two, or three or more characteristics are determined depends on the situation and can thus be selected flexibly. The at least one characteristic of the earthmoving machine can be used when evaluating data related to discharge amount, energy consumption, or elapsed time related to the work area. Further, this data can also be compared with each other data. Each other data can be, for example, similar work tasks performed by some other operator having the same or different characteristics. Similarly, this data can also be compared with similar work tasks performed by the same operator using tools with different characteristics of the earthmoving machine as described above.

[0081] Weight, width, height, torque, maximum output, track model, track wear amount, wheel model or wheel wear amount are related to different dimensions of the earthmoving machine or the usability of the earthmoving machine at the intended construction site related to the maneuverability of the earthmoving machine at the intended construction site, and the listed features provide a direct measure for determining the efficiency of the earthmoving machine from the perspective of the resulting emissions or energy consumption, or the elapsed time used to perform the intended (single or multiple) operations. For example, when the work area is very narrow due to nearby obstacles and the selected earthmoving machine is large, attempting to handle it with a large earthmoving machine may require more emissions, energy, and elapsed time. These listed features can also be used to determine an estimated value of at least one of these emissions, energy consumption, or elapsed time when other means of directly measuring or calculating at least one of the emissions, energy consumption, or elapsed time related to performing the intended operation are not available. Also, historical data regarding the use of a specific earthmoving machine for performing a specific work task can be applied here. Note that from the perspective of selecting a work method for estimation, the more each other data to be compared, the better results can be achieved.

[0082] The wear amount of the essential wear parts of the machine, the service life of the essential wear parts of the machine, the manufacturing material of the essential wear parts of the machine, the predetermined service life of the machine, and the length of at least one boom part are related to different characteristics of the earthwork machine, which are at least indirectly related to the operating efficiency of the earthwork machine. Examples of essential wear parts are the platform structure, and most essentially, the structure that transmits force to the ground surface, that is, wheels or tracks. When the tracks wear, the machine is prone to slipping, so the machine will consume excessive fuel and time to move during operation. Another example of an essential wear part is the joint of the boom structure. An example of the manufacturing material of the essential wear parts is the quality of the steel used in such wear parts. For example, the quality of the steel is most important regarding the service life and wear amount of the wear parts. The worse the quality of the steel, the earlier the next repair timing of the machine. The higher the wear amount or the used service life, or the lower the remaining predetermined service life, the lower the expected operating efficiency of the earthwork machine itself. Furthermore, the manufacturing material of the essential wear parts of the machine can have the effect of increasing or decreasing the wear amount of the essential wear parts of the machine or the expected service life of the essential wear parts of the machine.

[0083] According to an embodiment, the method includes obtaining a plurality of at least one of emissions, energy consumption, or elapsed time related to a location-specific part of a determined work task at a construction site from an earthwork machine, and determining a total amount of the plurality of at least one of emissions, energy consumption, or elapsed time related to a location-specific part of a determined work task at a construction site obtained from the earthwork machine.

[0084] According to this embodiment, a plurality of individually determined measurement values or values or other indications regarding emissions, energy consumption, and / or elapsed time are associated with a location-specific portion of the determined work task. For this reason, these measurement values or values or indications relate to an area, an area unit, or at least a specific layer in an area where measurement values or values or indications are obtained from the earthmoving machine for which operation is required to perform the work task. Further, based on a plurality of individually determined measurement values or values or other indications of emissions, energy consumption, and / or elapsed time associated with a location-specific portion of the determined work task, a total amount of a plurality of emissions, energy consumption, and / or elapsed time is determined and associated with the location-specific portion of the determined work task. In other words, in this embodiment, data or information on the total amount of emissions, energy consumption, and / or elapsed time associated with a location-specific portion of the determined work task performed by the earthmoving machine is obtained from that single earthmoving machine.

[0085] According to an embodiment, the method further includes the earthmoving machine completing a location-specific portion of a determined work task at a construction site and determining at least one amount of emissions, energy consumption, or elapsed time associated with the completed location-specific portion of the determined work task at the construction site from all of the at least one obtained emissions, energy consumption, or elapsed time associated with the location-specific portion of the determined work task at the construction site for completing the location-specific portion of the determined work task at the construction site.

[0086] According to this embodiment, after the location-specific part of the determined work task at the construction site is completed, at least one quantity among the emissions, energy consumption, or elapsed time related to the completed location-specific part of the determined work task at the construction site is determined, or in other words, at least one completed quantity among the emissions, energy consumption, or elapsed time related to the completed location-specific part of the determined work task at the construction site is determined. This determination is based on all of the at least one obtained quantity among the emissions, energy consumption, or elapsed time related to the location-specific part of the determined work task at the construction site that is necessary to complete the location-specific part of the determined work task at the construction site. As a result, at least one of the emissions, energy consumption, or elapsed time related to the location-specific part of the determined work task is collected from all of the earthwork machines that participated in completing the location-specific part of the determined work.

[0087] According to an embodiment, the method further includes determining, respectively, at least one default quantity among the emissions, energy consumption, or elapsed time for completing the location-specific part of the determined work task at the construction site, and determining the overall efficiency of the location-specific part of the determined work task at the construction site by comparing at least one quantity among the emissions, energy consumption, or elapsed time related to the completed location-specific part of the determined work task at the construction site with at least one default quantity among the emissions, energy consumption, or elapsed time for completing the location-specific part of the determined work task at the construction site.

[0088] According to this embodiment, a default amount of emissions, energy consumption, and / or elapsed time is determined for completing a location-specific portion of a determined work task at a construction site, i.e., for completing a specific work target area related to this work task or a part of this work task, a specific area unit within the work target area, or a specific layer in at least any of these. Then, in order to complete the work target area, a specific area unit of the work target area, or a layer in at least any one of these, operations included in the location-specific portion of the determined work task at the construction site, i.e., operations necessary for completing the work target area, a specific area unit of the work target area, or a layer in at least any of these related to the location-specific portion of the determined work task or a part of the work task, are executed by an earthwork machine. Then, by comparing at least one of emissions, energy consumption, or elapsed time related to the completed location-specific portion of the determined work task at the construction site with the default amount of emissions, energy consumption, and / or elapsed time, the overall efficiency of emissions, energy consumption, and elapsed time for the location-specific portion of the determined work task related to the work target area, a specific area unit of the work target area, or at least any one of these is determined. In this embodiment, the overall efficiency of the location-specific portion of the determined work task at the earthwork construction site is based on the determined default amount of emissions, energy consumption, and / or elapsed time of the location-specific portion of the determined work task. According to an embodiment, the default amount of at least one of emissions, energy consumption, or elapsed time related to the completed location-specific portion of the determined work task at the construction site can be an estimated value based on, for example, the mass volume of the material to be processed and / or moved to complete the location-specific portion of the determined work task. Alternatively, the default amount can also be obtained, for example, from previous similar work tasks executed by the same or other operators having the same tools and the same earthwork machines, or tools with different characteristics and / or earthwork machines with different characteristics, or the average value of all similar work tasks.

[0089] According to an embodiment, at least one default amount of emissions, energy consumption, or elapsed time to complete the location-specific portion of a determined work task at a construction site is the average amount of the same work task by at least one of the same or different earthmoving machines.

[0090] According to this embodiment, the default amount of emissions, energy consumption, or elapsed time to complete the location-specific portion of a determined work task is based on the collected historical data of a plurality of work tasks including substantially the same operations performed by earthmoving machines previously used to complete one or more previous work areas, one or more previous area units of one or more work areas, or one or more previous layers in at least any of these. The one or more previous work tasks can be those performed by the same earthmoving machine or different earthmoving machines.

[0091] The average amount can mean the straight average of emissions, energy consumption, and / or elapsed time that does not take into account the similarity or difference of the earthmoving machines involved in completing previous work tasks related to the emissions, energy consumption, and / or elapsed time. Alternatively, the average amount can also be a weighted average of emissions, energy consumption, and / or elapsed time that takes into account the differences in the characteristics or features of the earthmoving machines involved in completing previous work tasks. This type of embodiment is useful when attempting to discover more efficient working methods from new solutions such as new electric earthmoving machines compared to previous diesel machines, or new tools compared to previous tools.

[0092] When determining the average amount of emissions, energy consumption, and / or elapsed time related to the location-specific part of the determined work task, the determining factor for the determination of the average amount does not consider differences in environmental conditions such as soil conditions and / or dominant weather conditions between different work tasks to be considered in the determination of the average amount, and can be the similarity or difference in the operations performed to complete the relevant work tasks. Alternatively, by applying a more accurate division of the work tasks to be considered in the determination of the average amount of emissions, energy consumption, and / or elapsed time, only the work tasks performed under similar soil conditions and / or environmental conditions can be considered in the determination of the average amount.

[0093] According to an embodiment, the method includes determining, from a geotechnical information model, the mass volume to be moved to complete the location-specific part of the determined work task at the construction site, and determining the mass efficiency of the location-specific part of the determined work task at the construction site by comparing the mass volume to be moved to complete the location-specific part of the determined work task at the construction site with at least one of the amount of emissions, energy consumption, or elapsed time related to the completed location-specific part of the determined work task at the construction site.

[0094] According to this embodiment, in the determined work task, the mass volume to be moved per each work target area AW or per area unit AU of each work target area AW is determined. The mass volume to be moved per work target area AW or per area unit AU of the work target area AW can mean either the material mass volume to be moved from the work target area AW or its area unit AU, or the material mass volume to be moved to the work target area AW or its area unit AU, depending on the situation. Each work target area AW, or each area unit AU of each work target area AW, or each layer in at least any of these can represent a location-specific part of the determined work task. Therefore, by comparing the mass volume to be moved to complete the location-specific part of the determined work task at the construction site with at least one of the discharge amount, energy consumption amount, or elapsed time related to the completed location-specific part of the determined work task, the mass efficiency, that is, the efficiency of material movement, can be determined.

[0095] According to an embodiment, the method further includes completing a plurality of location-specific parts of the determined work task at the construction site, determining, from the geotechnical information model, the mass volume to be moved for each of the plurality of location-specific parts of the determined work task at the construction site, and determining the degree of completion of the determined work task at the construction site by comparing the total mass volume moved related to the plurality of completed location-specific parts of the determined work task at the construction site with the mass volume to be moved to complete all the location-specific parts of the work task at the construction site.

[0096] Therefore, in this embodiment, in order to complete the work task, that is, for each of the plurality of location-specific parts of the determined work task, the mass volume to be moved is determined from the geotechnical information model for each of the plurality of location-specific parts of the determined work task at the construction site. The determined mass volume to be moved can mean the mass removed from the construction site, or at least a specific work target area related to the work task, or a specific area unit of the work target area, or the mass moved to a specific work target area related to the work task, or a specific area unit of the work target area, or both of these. The mass volume to be moved to complete the work task can also be determined on-site during the progress of the construction site. This can be suitable when the plan is changed for some reason. There is a method to verify the correct mass volume that has been moved, and if the amount is different from the previously determined amount, the determined mass volume can be re-determined as the work progresses. Further, according to an alternative method, the mass volume to be moved to complete the work task can also be determined as a default value determined based on the corresponding work task executed at a previously completed construction site. This alternative method can be suitable for work tasks or parts thereof where the geotechnical information model does not specify a specific thickness, such as when removing soil from a construction site.

[0097] Furthermore, this embodiment includes determining the total mass volume moved by the earthmoving machine by determining the total mass volume moved for the location-specific part of the determined work task that has been completed. The earthmoving machine holds a record of the mass volume moved for individual completed work target areas corresponding to the location-specific part of the determined work task that has been completed or for area units within them. Based on the total mass moved for the location-specific part of the determined work task that has been completed, the total mass moved by the earthmoving machine can be determined. In response to determining the total mass moved by the earthmoving machine, by comparing the total mass moved for the plurality of location-specific parts of the determined work task at the construction site with the mass volume that should be moved to complete all the location-specific parts of the determined work task at the construction site, the percentage of the determined work task that has been completed by the earthmoving machine, which indicates the degree of readiness of the determined work task at the construction site, can be determined.

[0098] According to an embodiment, the earthmoving machine is a first earthmoving machine, and the method further includes obtaining, from at least one second earthmoving machine, at least one of the discharge amount, energy consumption amount, or elapsed time related to the location-specific part of the determined work task at the construction site of the first earthmoving machine.

[0099] According to this embodiment, there are at least two earthwork machines, namely a first earthwork machine and a second earthwork machine, that participate in performing the operations necessary to complete the work task related to the location-specific part of the determined work task of the first earthwork machine, that is, the operations necessary to complete the work task related to the work area where the first earthwork machine operates or the area unit within the work area. In this embodiment, the emissions, energy consumption, or elapsed time related to the location-specific part of the determined work task related to the operation of the first earthwork machine are determined. Also, the emissions, energy consumption, or elapsed time related to the same location-specific part of the determined work task related to the (single or plural) operation of at least one other earthwork machine that participates in performing the operations necessary to complete the work task are each determined. An example of at least one second earthwork machine is an earthwork transport machine, a machine used to load materials to be transported from the work area or some area unit therein onto the earthwork transport machine, or a machine used to quarry and / or crush materials to be transported to the work area or some area unit therein. In the example where the second earthwork machine is an earthwork transport machine that transports the materials excavated by the first earthwork machine and loaded onto the second earthwork machine, the first earthwork machine tracks from the location-specific area where the materials are excavated to each loading. When the second earthwork machine executes the work cycle of transporting the said materials, the emissions, energy consumption, and / or elapsed time of each work cycle are obtained from the second earthwork machine and associated with the (single or plural) correct location-specific part of the determined work task of the first earthwork machine.

[0100] According to a further embodiment of the embodiment as described above, at least one second earthwork machine is an earthwork transport machine, and at least one of the emissions, energy consumption, or elapsed time related to the location-specific part of the determined work task at the construction site of the first earthwork machine related to the second earthwork machine further includes at least one of the emissions, energy consumption, or elapsed time related to the transported materials respectively.

[0101] According to this embodiment, at least one second geotechnical machine is a geotechnical transport machine, and at least one of the emissions, energy consumption, or elapsed time associated with the second geotechnical machine further includes at least one of the emissions, energy consumption, or elapsed time related to the transported material. According to this embodiment, when determining the respective emissions, energy consumption, and / or elapsed time related to the location-specific part of the determined work task, the respective emissions, energy consumption, and / or elapsed time related to the material transported by the geotechnical transport machine are also considered. This means that, for example, the respective emissions, energy consumption, and / or elapsed time used in manufacturing such as quarrying and / or crushing, and the emissions, energy consumption, and / or elapsed time used to load the material onto the geotechnical transport machine are related to the material to be transported by the geotechnical transport machine. In response to the transport of the material, the emissions, energy consumption, and / or elapsed time associated with the material become included in the emissions, energy consumption, and / or elapsed time associated with the geotechnical transport machine, and these emissions, energy consumption, and / or elapsed time are caused by the transport of the material to the work area or some specific area unit therein. In response to the transport of the material to the work area or some specific area unit therein, the emissions, energy consumption, and / or elapsed time related to the manufacturing and loading of the material at this time, also included, can be associated with the emissions, energy consumption, and / or elapsed time related to the geotechnical machine operating in the work area or some specific area unit therein, and ultimately can be further associated with the emissions, energy consumption, and / or elapsed time related to the work area or some specific area unit therein.At this point, the emissions, energy consumption, and / or elapsed time associated with the work target area or some specific area unit therein are in accordance with the scope of the area related to the location-specific part of the determined work task, and represent the total emissions, energy consumption, and / or elapsed time of the work performed for the work task executed by the first earthmoving machine for the work target area or some specific area unit therein. Similarly, the first earthmoving machine that uses the materials transported to the work target area or some specific area unit therein tracks the (single or plural) location-specific area where the transported materials end up, and then the (single or plural) correct location-specific area for each of the emissions, energy consumption, and / or elapsed time obtained from the earthmoving transport machine for the transported materials is associated with the (single or plural) correct work target area or the (single or plural) unit therein.

[0102] In the above example, the determination of the total emissions, energy consumption, and / or elapsed time related to the work target area when new materials are transported to the work target area was explained. When some materials are removed from the work target area, there can be at least two options for the determination of the total emissions, energy consumption, and / or elapsed time related to this work target area. If the removed materials are reused in some other work target area, the emissions, energy consumption, and / or elapsed time related to the materials removed from the work target area can be deleted from the total emissions, energy consumption, and / or elapsed time related to the work target area where this material is removed, that is, related to each location-specific part of the determined work task, and included in the total emissions, energy consumption, and / or elapsed time related to the work target area that receives the said materials, that is, related to each location-specific part of the determined work task. If the removed materials are not suitable for reuse and must be discarded or eliminated, the emissions, energy consumption, and / or elapsed time related to the materials removed from the work target area can be included in the total emissions, energy consumption, and / or elapsed time related to the work target area where this material is removed, that is, related to each location-specific part of the determined work task.

[0103] According to one embodiment, the method further includes determining at least one part of the earthmoving machine related to the movement of the tool of the earthmoving machine, determining at least one of acceleration data or angular velocity data of the movement of at least one part of the earthmoving machine for the location-specific part of the determined work task at the construction site, calculating a movement difference value of at least one of the acceleration data or the angular velocity data for the location-specific part of the determined work task at the construction site, and determining a performance coefficient for the location-specific part of the determined work task at the construction site from this movement difference value.

[0104] In this embodiment, when the earthmoving machine is performing an operation to advance the progress of the work area or an area unit therein related to the location-specific part of the determined work task, at least one part of the earthmoving machine related to the movement of the tool of the earthmoving machine is determined or selected, and in particular, at least one of the acceleration data or the angular velocity data of at least one part of this earthmoving machine is determined. In light of at least one of the discharge amount, energy consumption, or elapsed time related to the location-specific part of the determined work task, by calculating a movement difference value for at least one of the acceleration data or the angular velocity data for the location-specific part of the determined work task, a performance coefficient based on the movement difference value representing the dependency between the operation method of the earthmoving machine and each discharge amount, energy consumption, and / or elapsed time related to the location-specific part of the determined work task can be determined. The performance coefficient provides information or data representing the influence of the operation method of the earthmoving machine on the location-specific as-built performance value, and can be further used to guide the operator of the earthmoving machine to operate the earthmoving machine more efficiently in light of the discharge amount, energy consumption, and / or elapsed time.

[0105] According to a further embodiment of the above-described embodiment, the geotechnical machine is an excavator, and at least one part of the geotechnical machine related to the movement of the tool of the geotechnical machine is at least one of a boom part, a joint of the boom structure, the upper carriage of the excavator, or the undercarriage of the excavator. By inspecting at least one of the acceleration data or the angular velocity data of at least one of the above-mentioned parts of the excavator, it is possible to determine the performance coefficient for the location-specific part of the determined work task at the construction site. The more parts are inspected, the more accurate the result will be, but the installation cost will also be higher. Therefore, the optimal parts and the suitable number of inspected parts can be selected flexibly.

[0106] FIG. 7 schematically shows an example of determining the location-specific efficiency at a geotechnical construction site. FIG. 7 schematically shows a geotechnical construction site 1 and a work target area AW therein. In the example of FIG. 7, a total of three geotechnical machines are performing different operations to complete the construction site 1, and these geotechnical machines are a lorry for transporting some material to the work target area AW, an excavator for leveling the material on the work target area AW, and a drum roller for compacting the work target area AW.

[0107] In the example of FIG. 7, a truck transports a pile of material having a certain mass to the work area AW. When the material is loaded onto the truck, it is associated with the emissions, energy consumption, and / or elapsed time resulting from the loading of the material onto the truck. If the material had to be produced by some special method such as quarrying and / or crushing, the emissions, energy consumption, and / or elapsed time resulting from the production of this material are also associated with the emissions, energy consumption, and / or elapsed time of the material, i.e., they are added to the emissions, energy consumption, and / or elapsed time resulting from the loading of the material onto the truck. In response to the pile of material being unloaded from the truck into the work area, the emissions, energy consumption, and / or elapsed time resulting from the transportation and unloading of the material, i.e., the emissions, energy consumption, and / or elapsed time caused by the truck, are also included in the previously determined emissions, energy consumption, and / or elapsed time of the material, thereby enabling the total emissions, energy consumption, and / or elapsed time of the material, including the emissions, energy consumption, and / or elapsed time related to the production, loading, transportation, and unloading of the pile of material, to be associated with a pile of material having a known mass volume in the work area. Therefore, the emissions, energy consumption, and / or elapsed time related to the production, loading, transportation, and unloading of the pile of material are evenly distributed and shared per cubic meter of material per pile of material.

[0108] The excavator is used to level a pile of material with a known mass volume. That is, since the position of the tools of the excavator is known, the area or area unit of the work area, or each area or each area unit is also known, and the flow of material to the area or area unit, or each area or each area unit is also known. A control system such as the control unit 12 of the excavator distributes the total discharge, energy consumption and / or elapsed time related to the mass volume of the material to the area or area unit of the work area where the excavator levels the pile of material, or each area or each area unit. Leveling the pile of material on the area or area unit of the work area, or each area or each area unit also results in some discharge, energy consumption and / or elapsed time. Each discharge, energy consumption and / or elapsed time generated by the excavator is also similarly distributed to the area or area unit where the tools of the excavator level the pile of material, or each area or each area unit, and these represent the discharge, energy consumption and / or elapsed time related to the location-specific part of the determined work task at the construction site 1.

[0109] Alternatively, before leveling the pile of material, the discharge, energy consumption and / or elapsed time related to the pile of material can also be included in the discharge, energy consumption and / or elapsed time of the excavator resulting from leveling the pile of material. Then, after evenly distributing the total amount of the discharge, energy consumption and / or elapsed time of the pile of material and the discharge, energy consumption and / or elapsed time of the excavator generated by leveling the pile of material to the mass volume of the pile of material, it is evenly distributed to the area or area unit of the work area where the mass volume of the pile of material has been leveled, or each area or each area unit. In other words, if area unit AU1 requires X cubic meters of material and area unit AU2 requires 2*X cubic meters of material, a control system such as the control unit 12 distributes twice the discharge, energy consumption and / or elapsed time to area unit AU2 compared to area unit AU1.

[0110] The drum roller can be considered to have completed a work phase that includes compacting the work area after the material pile has been leveled on the work area, and then leveling and compacting at least the work area AW of this construction site 1. At this point, the emissions, energy consumption, and / or elapsed time generated by the drum roller are included in the work area AW. Regarding the compaction work of the drum roller, the emissions, energy consumption, and / or elapsed time are shared per square meter. Since the position of the tool, i.e., the compression device of the drum roller, is known, the emissions, energy consumption, and / or elapsed time of the drum roller can be allocated to the work area or area unit of the work object, or to each area or each area unit. In other words, in the case of the drum roller, the mass volume of the material is not the issue, but rather the surface area, and the emissions, energy consumption, and / or elapsed time of the drum roller with respect to the work area or area unit of the work object, or to each area or each area unit. Thus, the emissions, energy consumption, and / or elapsed time generated by the drum roller are associated with the work area AW or area unit of the work object that is leveled and compacted at this point, or with each area or each area unit, and represent the emissions, energy consumption, and / or elapsed time related to the location-specific part of the determined work task of the drum roller at construction site 1.

[0111] Data regarding the total amount of emissions, energy consumption, and / or elapsed time to complete the above-described work phase, including leveling and compacting the work target area AW, can be collected, for example, by the server at construction site 1 or the cloud service at construction site 1. As described, the work target area AW can be divided into area units, and the transported material can be leveled not only in one work target area AW but also in another work target area AW. The earthwork machine for leveling the transported material is a machine that shares the emissions, power consumption, and / or elapsed time related to the material transported within the work target area where the transported material is leveled. A drum roller is an example of an earthwork machine that only tracks its own emissions, energy consumption, and / or elapsed time. Therefore, it is easy for its control system to allocate its emissions, energy consumption, and / or elapsed time to the work target area or area units, or to each area or area unit in a location-specific manner.

[0112] FIG. 8 schematically shows an example of an information flow system applicable to the determination of location-specific as-built performance values at an earthwork construction site.

[0113] FIG. 8 shows a first machine equipped with a machine control system MCS of vendor X, namely "Machine 1". Referring to the example of FIG. 7, for example, the first machine can be a drum roller. The machine control system of the first machine can be connected to a cloud service provided by the same vendor X. As a result, each machine control system MCS of the first machine can send the necessary information such as the emissions, energy consumption, and / or elapsed time and position information of tools such as the compression device of the drum roller related to the first machine and / or the operations performed by the first machine to, for example, the server storing data related to construction site 1 here or the cloud service of vendor X providing the cloud service.

[0114] FIG. 8 further shows a second machine, i.e., "Machine 2", equipped with the machine control system MCS of vendor Y. Referring to the example of FIG. 7, for example, the second machine can be a lorry. The machine control system of the second machine can be connected to a cloud service provided by the same vendor Y, whereby each machine control system MCS of the second machine can send the required information such as the emission amount, energy consumption, and / or elapsed time and position information of tools such as the platform in the lorry related to the second machine and / or the operations performed by the second machine to the cloud service of vendor Y, and then, for example, to a server or cloud service that stores data related to construction site 1.

[0115] FIG. 8 further shows a third machine, i.e., "Machine 3", which can be an excavator, for example, referring to the example of FIG. 7. The third machine can be connected to an OEM cloud service provided by the manufacturer of the third machine, whereby the required information such as the emission amount, energy consumption, and / or elapsed time and position information of tools such as the bucket of the excavator related to the third machine and / or the operations performed by the third machine can be directly sent to the cloud service of the manufacturer of the third machine, and then, for example, to a server or cloud service that stores data related to construction site 1.

[0116] In the example of FIG. 8, the data or information collected by the cloud service of vendor Y and the OEM cloud service of the manufacturer of the third machine is further sent to the cloud service of vendor X, i.e., a server or cloud service that stores data related to construction site 1, in order to determine, for example, the site-specific as-built performance values at each geotechnical construction site, i.e., the efficiency related to the work area AW shown in the example of FIG. 7.

[0117] Those skilled in the art will clearly understand that as technology advances, the concept of the present invention can be implemented in various forms. The present invention and its embodiments are not limited to the above-described examples and can vary within the scope of the claims.

Explanation of Symbols

[0118] 1 Earthwork site 2 Excavator 3 Mobile carriage 3a Undercarriage (lower carriage) 3b Upper carriage 4 Rotating axle 5 Rotation axis 6 Boom 6a First boom part 6b Second boom part 7 Joint 8 Bucket 10 Cab 11 Operator 12 Control unit 13 Antenna 14 Tracking device AW1 First work target area AW2 Second work target area AW3 Third work target area AW4 Fourth work target area AU1~AU9 Area units DOP Travel direction

Claims

1. 1. A method for determining an earthworks information model-based location-specific as-built performance value for an earthworks construction site, comprising: determining an earthworks information model of the earthwork work site, the earthworks information model including specific work tasks that need to be performed to complete a particular layer or area of ​​the earthwork work site or a portion of the earthwork work site; determining a position of a tool of an earthworking machine in an earthwork work site coordinate system, the position of the tool of the earthworking machine being determined in both the earthwork work site and the earthwork information model; determining a work task for the earthwork machine at the earthwork construction site from the earthwork information model; determining location specific portions of the determined work task at the earthwork work site based at least in part on a location of the tool of the earthworking machine in the earthwork information model; obtaining from the earthmoving machine at least one of an emission amount, an energy consumption amount or an elapsed time associated with the location-specific portion of the determined work task at the earthwork construction site as a location-specific as-built performance value; The method includes:

2. determining an orientation of the tool of the earth moving machine in at least one degree of freedom; determining the location-specific portion of the determined work task at the earthwork construction site is further based at least in part on the at least one degree of freedom of the tool of the earthworking machine. The method of claim 1.

3. determining a position of the tool of the earthworking machine includes determining a three-dimensional position and orientation of the tool, and determining the location-specific portions of the determined work task at the earthworking work site is based at least in part on the three-dimensional position and orientation of the tool of the earthworking machine. The method of claim 1.

4. The earthwork information model of the earthwork construction site includes at least one of a surface model or a geometric model; The method of claim 1.

5. The civil engineering information model is based on at least one of a geospatial information system (GIS), a building information model (BIM), an infrastructure or infrastructure building information model (I-BIM), a civil information model (CIM), a project information model (PIM), or a smart city platform; The method of claim 1.

6. determining at least one characteristic of the tool of the earth moving machine, wherein the at least one characteristic of the tool of the earth moving machine is at least one of weight, width, height, maximum length / elongation, capacity, volume, amplitude, diameter, wear amount, service life, material of manufacture, or a predetermined service life; The method of claim 1.

7. determining at least one characteristic of the earth moving machine, the at least one characteristic of the earth moving machine being at least one of weight, width, height, torque, maximum power, wear amount of an essential wear part of a machine, useful life of an essential wear part of a machine, a manufacturing material of an essential wear part of a machine, a predetermined useful life of a machine, a length of at least one boom part, a track model, a track wear amount, a wheel model, or a wheel wear amount. The method of claim 1.

8. The method comprises: obtaining from the earthworking machine a plurality of at least one of emissions, energy consumption, or elapsed time associated with the location-specific portions of the determined work tasks at the earthworking construction site; determining an aggregate amount of at least one of the plurality of emissions, energy consumption, or elapsed time associated with the location-specific portions of the determined work tasks at the earthworking work site obtained from the earthworking machine; The method of claim 1 , comprising:

9. completing the location-specific portion of the determined work task at the earthwork work site with the earthworking machine; determining at least one amount of emissions, energy consumption or elapsed time associated with the completed location-specific portion of the determined work task at the earthwork work site from the obtained at least one amount of emissions, energy consumption or elapsed time associated with the location-specific portion of the determined work task at the earthwork work site for completing the location-specific portion of the determined work task at the earthwork work site; The method of claim 8 , further comprising:

10. determining at least one default amount of emission, energy consumption, or elapsed time for completing a location-specific portion of the determined work task at the earthwork construction site, respectively; determining an overall efficiency of the location-specific portion of the determined work task at the earthwork work site by comparing at least one amount of emissions, energy consumption, or elapsed time associated with the completed location-specific portion of the determined work task at the earthwork work site to at least one default amount of emissions, energy consumption, or elapsed time for completing the location-specific portion of the determined work task at the earthwork work site; The method of claim 9 further comprising:

11. determining from the earthwork information model a mass volume to be moved to complete the location-specific portion of the determined work task at the earthwork construction site; determining a mass efficiency of the location-specific portion of the determined work task at the earthwork work site by comparing the mass volume to be moved to complete the location-specific portion of the determined work task at the earthwork work site to at least one of an amount of emissions, energy consumption, or elapsed time associated with the completed location-specific portion of the determined work task at the earthwork work site; The method of claim 9 further comprising:

12. completing a plurality of location-specific portions of the determined work task at the earthwork construction site; and determining from the earthwork information model a mass volume to be moved for each of the plurality of site-specific portions of the determined work task at the earthwork construction site; determining a degree of completion of the determined work task at the earthwork construction site by comparing a total mass volume moved for the plurality of completed location-specific portions of the determined work task at the earthwork construction site to a mass volume that must be moved to complete all location-specific portions of the determined work task at the earthwork construction site; The method of claim 9 further comprising:

13. The earthmoving machine is a first earthmoving machine, and the method includes: and obtaining, from at least one second earth moving machine, at least one of an emission amount, an energy consumption amount, or an elapsed time associated with the location-specific portion of the determined work task at the earthwork work site of the first earth moving machine, respectively.

13. The method according to any one of claims 1 to 12.

14. the at least one second earth moving machine is an earth moving machine, and at least one of emissions, energy consumption or elapsed time associated with the location-specific portion of the determined work task at the earth working site of the first earth moving machine for the second earth moving machine further includes at least one of emissions, energy consumption or elapsed time associated with transported material, respectively. The method of claim 13.

15. determining at least one portion of the earth moving machine associated with movement of the tool of the earth moving machine; determining at least one of acceleration data or angular velocity data of movement of the at least one part of the earthworking machine for the location-specific portion of the determined work task at the earthworking work site; calculating a moving delta value of at least one of acceleration data or angular velocity data for the location-specific portion of the determined work task at the earthwork construction site; determining a performance factor for the location-specific portion of the determined work task at the earthwork construction site from the moving difference values; 13. The method of claim 1, further comprising:

16. the earth moving machine is an excavator and the at least one part is at least one of a boom part, a boom structural joint, an upper carriage of the excavator, or an undercarriage of the excavator; The method of claim 15.

17. the work task being an operation or series of operations to be performed by the earthworking machine at the earthworking site to advance completion of the earthwork site or a work target area within the work site, an area unit within the work target area within the earthwork site, or a layer of at least any of these; 13. The method according to any one of claims 1 to 12.

Images