System and control method, and construction machine

Abstract

The present invention relates to a system (10) and to a method (100) for controlling a construction machine (1), and to a construction machine (1) having a system (10) of this kind. Mainly, the surroundings (6) of the construction machine (1) are recorded (S1) by means of a LiDAR sensor system (12) mounted on a machine body (2), and corresponding surroundings data (U) are produced. On this basis, a position (P) of a machine component (4) that is movable relative to the machine body (2) is determined (S2) and taken as the basis (S4) for controlling a movement of the machine component (4).

Description

[0001] IMX001DE1 05. 05. 2025

[0002] 1

[0003] System and control procedures as well as construction machinery

[0004] The present invention relates to a system and a method for controlling a construction machine as well as a construction machine with such a system.

[0005] It is common practice to equip construction machinery, such as excavators, with comprehensive sensor systems to monitor and potentially even precisely control the relative positions of machine components. For example, it is possible to determine the degree to which individual segments of an excavator boom are tilted or inclined relative to one another. This allows the geometric determination of the position of a tool (attachment) mounted on this boom, such as a bucket. For instance, excavators typically have corresponding tilt sensors on the upper structure, the main boom, the extension boom (if present), the stick, and the quick coupler (for detecting the bucket position).

[0006] This information, acquired through the sensors, can be used, for example, to set lifting and / or slewing limits for the boom. Here, a machine operator, for instance, defines limits for the lifting and / or slewing movement, which can then be monitored using the sensors. This allows, for example, the creation of a "virtual wall." Alternatively or additionally, after georeferencing the construction machine, the sensor-determined position can also be compared with plan data. This allows work with the construction machine to be carried out automatically or at least semi-automatically. IMX001DE1 05. 05. 2025

[0007] 2

[0008] It is an object of the present invention to further improve, and in particular to simplify, the control of a construction machine. In particular, it is an object to improve the determination of a position that can be used as a basis for controlling a machine component.

[0009] This problem is solved by a system and a method for controlling a construction machine and a construction machine with such a system according to the independent claims.

[0010] Preferred embodiments are the subject of the dependent claims and the following description.

[0011] According to a first aspect, the method for controlling a construction machine, in particular an excavator, comprises: i) essentially continuous detection of the environment of the construction machine, in particular a working area of ​​the construction machine, by means of a lidar sensor mounted on a machine body and generation of corresponding environmental data; ii) determining a position of a machine component movable relative to the machine body, in particular an attachment, for example an excavator bucket, a ripper tooth, a (hydraulic) shear or tong, a drill and / or the like, based on the environmental data; iii) controlling a movement, in particular a lifting and / or pivoting movement, of the machine component, preferably relative to the machine body, based on the determined position.

[0012] One aspect of the invention is based on the approach of capturing the environment of a construction machine, in particular an excavator, by means of a lidar scanner that scans the environment or at least an area of ​​the environment. The environmental data generated in this way preferably comprise a point cloud, wherein IMX001DE1 05. 05. 2025

[0013] 3

[0014] Each measurement or data point from the point cloud can be characterized by its angular position and distance from the lidar sensor. Based on the environmental data, the position of a movable machine component—which can be used to manipulate, i.e., process, the environment and is therefore conveniently located within the detection range of the lidar sensor—can then be determined relative to the lidar sensor. Additional sensors, such as tilt sensors mounted on a boom, are generally unnecessary. This avoids the need to install sensors in areas subject to particularly high mechanical stress. Consequently, a machine equipped accordingly requires less maintenance and is less prone to defects, as no cables need to be run to sensors on the boom, quick coupler, or similar components.

[0015] Advantageously, the movement of the machine component relative to the machine body is controlled based on the position thus determined. This control can be manual or automatic. For example, the construction machine can be controlled (automatically or at least semi-automatically) by means of a control device based on the determined position. Alternatively, information based on the determined position can be output to a machine operator, for example via an interface, who can then control the construction machine based on this information.

[0016] The position of the machine component, determined using environmental data generated by the lidar sensors, enables more precise control of the construction machine while simultaneously increasing operational safety. This is because, in addition to the position of the machine component, the environmental data can also contain other information relating to the machine's surroundings. IMX001DE1 05. 05. 2025

[0017] 4

[0018] The environmental data must be included and taken into account. For example, an effective stroke and / or swivel limit can be set based on the environmental data to prevent the machine component from colliding with an object identified in the environmental data, e.g., using a computer model. Alternatively or additionally, it is conceivable to compare the environment reconstructed from the environmental data with planning data. This can prevent accidents and enable compliance with planning specifications or their close monitoring.

[0019] Preferred embodiments of the invention and their further developments are described below. These embodiments can be combined with each other and with the aspects of the invention described below, unless expressly excluded.

[0020] To accurately locate the machine component, particularly a part thereof, such as the cutting edge of an excavator bucket, not only relative to the lidar sensor—and thus to the machine body—but also, if necessary, within an external coordinate system, for example, in relation to a survey of the construction machine's operating location, the environmental data can be combined with a position measurement, particularly an independent one. In a preferred embodiment, the position of the lidar sensor is determined satellite-based using a position sensor. Advantageously, corresponding position data is generated in the process. The position of the lidar sensor can be determined, for example, using an established navigation system, such as a global navigation satellite system (GNSS) like GPS or Galileo.The position of the machine component can then be additionally determined based on the position data, i.e., on IMX001DE1 05. 05. 2025.

[0021] 5

[0022] The basis for the position of the machine component (relative to the machine body) and the position data. For this purpose, the position data is expediently assigned to the environmental data. In particular, this allows each measurement or data point from the environmental data to be assigned coordinates based on the position data, especially geodetic coordinates. The environmental data, especially the measurement or data points from the environmental data, can thus be georeferenced using the position data. Effectively, the coordinates of the machine component in one coordinate system of the lidar sensor can be transformed into another coordinate system, for example, a GNSS coordinate system. The machine component, for example, an attachment such as an excavator bucket or boom elements, or a part thereof, for example, a cutting edge of the excavator bucket, rear or side edges, can thus be geodetically located. That is to say,Precise coordinates, such as geographical longitude and latitude, can be determined in the Earth's reference system, not just relative to the machine body. This also applies equally to all other objects detected by the lidar sensors and all measurement or data points from the environmental data.

[0023] By determining the position of the lidar sensors, a process known as geodetic surveying or georeferencing, the machine component can be located within its environment, independently of the construction machine itself. In particular, the machine component can be located relative to objects or areas whose positions are already known, for example in the form of GPS coordinates, such as through a geographic survey of the machine's operating location.

[0024] Consequently, the determined position of the machine component can be used, for example, to improve operational safety. IMX001DE1 05. 05. 2025

[0025] 6

[0026] to increase. In a further preferred embodiment, the movement range of the machine component (relative to the machine body), i.e., the area in which the machine component can be moved, is restricted based on the determined position, in particular based on the determined position of the lidar sensor. In other words, the working area of ​​the construction machine can be restricted, which is defined by the mobility of a tool forming the machine component relative to the machine body. This restriction prevents collisions with objects in the vicinity of the construction machine whose position is known in advance (e.g., by surveying) or which have been identified using environmental data. This prevents collisions with objects, e.g., on the side of the boom, behind the machine, to the side of the machine, and / or under the machine or machine component.Pipes located beneath the bucket's cutting edge must be taken into account. In particular, an area can be defined into which the machine component may no longer be moved. This area can either be defined by or derived from a geodetic specification (survey) or, preferably using a computer model, identified or derived from the surrounding data, e.g., a point cloud. This allows, in particular, a stroke limit for the machine component, for example, the boom of an excavator or the attachment mounted on it.

[0027] If the movement range of the machine component is restricted based on the determined position of the lidar sensor, i.e., also based on the position data, this restriction can be dynamic: if the machine, i.e., the machine body, is repositioned and the position of the lidar sensor changes accordingly, the restriction of Be-IMX001DE1 05. 05. 2025

[0028] 7

[0029] The range of motion can change. If the construction machine or machine body is moved further away from an object in the machine's vicinity, the restriction of movement may decrease; conversely, it may increase if the construction machine or machine body is moved closer to the object.

[0030] In principle, an area into which the machine component may not or cannot be moved can shift relative to the machine body if the construction machine is moved relative to the object.

[0031] The limitation of the machine component's range of motion can be effectively monitored and / or implemented by comparing the determined position of the machine component with a previously known position of an object or area in the machine's environment, or a position determined based on environmental data. In a further preferred embodiment, a distance between the machine component and a previously known or detected object and / or area in the machine's environment is calculated based on the determined position of the machine component and used as the basis for the motion control of the machine component.

[0032] If, for example, an object in the machine environment can be detected in situ based on the environmental data, with which a collision would be possible if the machine component were to move accordingly, the object position determined upon detection (relative to the lidar sensor or the machine body) can be related to the determined position of the machine component. Depending on the distance thus determined, the movement of the machine component can then be influenced. If the determined distance falls below a predetermined distance threshold, for example, the movement can be stopped or slowed down. IMX001DE1 05.05.2025

[0033] 8

[0034] If the machine component is georeferenced, meaning its position determination is (also) based on position data, its position can be related to a previously known object position (e.g., determined through a survey) or a previously known area into which the machine component should not (or cannot) penetrate. Naturally, in this case, the movement can also be influenced accordingly, depending on the distance determined in this way.

[0035] On the one hand, this can prevent collisions with objects detected in situ, for example other machines or vehicles, building materials or piles of building materials, pipes, tracks, people and / or the like; on the other hand, it is also possible to avoid collisions with objects whose positions at the machine's place of operation are known in advance, for example plants (trees), buildings or other infrastructure such as power lines.

[0036] For safety reasons, it is recommended to react as early as possible to the presence of an object or a "blocked" area in the machine's environment. In another preferred implementation, the movement of the machine component is therefore slowed down and / or prevented depending on its detected position. For example, depending on the determined distance of the machine component to the object or the area into which the machine component should not penetrate, the movement speed can be reduced or stopped. If the machine component is moved hydraulically, a corresponding hydraulic ramp can be applied. The closer the machine component gets to the object or the area, the lower the permissible movement speed can be. Thus, IMX001DE1 05.05.2025

[0037] 9

[0038] no or only a slight risk that the movement cannot be stopped in time or that an abrupt stop occurs, in which a load possibly taken up by the machine component or an associated part could be lost.

[0039] The use of lidar sensors to detect the machine's surroundings is also advantageous because the environmental data thus obtained allows the operation of the construction machine, and in particular the movement of machine components, to be adapted more precisely to the environment. For example, the ground topography in the machine's surroundings, which may change during the course of work, can be taken into account. In another preferred embodiment, the lidar sensors are used specifically to detect a work area in which a machine tool, for example, an attachment such as an excavator bucket, hydraulic shears or scissors, a ripper tooth, and / or the like, can be deployed by moving it relative to the machine body. Based on the environmental data generated, the position of the machine component relative to the ground topography within the work area is expediently determined.

[0040] In addition to detecting machine components, such as tools or attachments, lidar sensors enable real-time surveying of the ground in the work area. This allows the tool or machine component to be precisely located relative to the ground without having to rely on previous surveys. The determined ground topography can therefore be influenced by previously completed excavation work or reflect the progress of the work. This allows the work progress to be specifically taken into account when moving the machine component. IMX001DE1 05. 05. 2025

[0041] 10

[0042] Particularly precise control of machine component movement and the associated high operational reliability can be achieved by incorporating additional lidar sensors. In a further preferred embodiment, these additional lidar sensors also detect a swivel range of the machine within which a machine tool can be deployed by swiveling the machine body. The additional environmental data generated in this process is advantageously used as a basis for the motion control of the machine component. This enables, in particular, automatic swivel limiting.

[0043] The additional lidar sensor system can, for example, comprise two additional lidar sensors or scanners, which are conveniently positioned on either side of a boom, such as an excavator arm. By positioning the two additional lidar sensors to the left and right of the boom, for example on the excavator arm, the lidar sensor's field of view can be extended. Alternatively or additionally, this can also ensure particularly precise detection of the work area, e.g., the soil directly beneath a tool attached to the boom.

[0044] Using the additional lidar sensors, for example, an object located outside the machine's working range (i.e., the area reachable by moving the machine component relative to the machine body with a tool or attachment) can be detected, and any corresponding swiveling of the machine body, such as a superstructure, or the machine component, such as the boom or the tool attached to it, can be prevented or limited. The detection range of the lidar sensors can be extended particularly reliably if the additional lidar sensor IMX001DE1 05. 05. 2025

[0045] 11

[0046] for example, on a boom at the end of which the tool or attachment is mounted or can be mounted.

[0047] Alternatively or additionally, the work area can be specifically captured using the additional LiDAR sensors. These additional LiDAR sensors can therefore capture at least part of the same area as the LiDAR sensors mounted on the machine body. This allows for improved resolution within the work area. As a result, work with the tool can be coordinated, controlled, and / or monitored more easily. Furthermore, this enables even more reliable and automatic identification of the tool based on the environmental data or the additional environmental data.

[0048] As already indicated above, identifying objects or structures in the machine's environment in situ can be advantageous for preventing accidents or damage. In a further preferred embodiment, an object or structure in the vicinity of the construction machine is therefore automatically detected based on the environmental data and / or additional environmental data. Advantageously, the position of this object or structure is also determined. Preferably, the object's position relative to the construction machine, particularly the machine body, is taken into account in the motion control of the machine component. For detecting the object or structure in the machine's environment, AI-supported methods, i.e., appropriately trained models, can be used, for example. This allows objects such as power lines, railway tracks, plants, other machines or vehicles, and / or the like to be detected in real time.The motion control can then be adjusted immediately, for example by slowing down or even stopping a movement. IMX001DE1 05. 05. 2025.

[0049] 12

[0050] While a machine operator can usually visually check the position of a machine component or attachment, especially relative to an object or structure, the at least partially automated or assisted motion control of the machine component requires the corresponding control device to know the size of the tool or attachment, which is usually interchangeable. Conventionally, the operator specifies the tool by inputting a value or selecting it from a list. However, this is prone to errors. In a further preferred implementation, the tool for the construction machine is therefore automatically identified based on environmental data and / or additional environmental data. Advantageously, the result of this identification is used as the basis for the motion control of the machine component.For example, the type of excavator bucket or ripper tooth, and thus information about the attachment's size, can be automatically determined by analyzing environmental data. This information can then be used as the basis for motion control. Attachment identification is therefore less prone to error. In particular, user error is eliminated.

[0051] As explained above, it is possible to determine information about the ground topography in the vicinity of the construction machine using environmental data. Consequently, using this information allows for particularly precise and close monitoring of construction projects. In a further preferred implementation, the recorded environment of the construction machine, especially the ground topography in the work area, is essentially continuously compared with a plan specification, particularly a target topography, using environmental and positional data. This enables

[0052] 13

[0053] The position data enables a location-resolved comparison of the surrounding data with the plan specifications. In other words, the georeferencing of the machine component makes it possible to relate the position of the machine component to the plan specifications. This allows for continuous monitoring of

[0054] (Civil engineering) work is possible. In particular, this allows the planning specifications to be followed with exceptional precision.

[0055] For a machine operator, implementing the plan can be made significantly easier if, in a further preferred implementation, a model of the construction machine's surroundings, particularly the ground topography in the work area, is generated based on the environmental data. This model is advantageously displayed visually together with the plan, especially the target topography. The model of the ground topography and the target topography can be shown to the machine operator, for example, via a display in the machine's operator's cab. Advantageously, the position of the machine component is also displayed in this representation. The machine operator can thus easily determine the position of the machine component, e.g., the tool or attachment, relative to the actual and target topography and control the movement of the machine component accordingly.

[0056] According to a second aspect of the invention, the system for controlling a construction machine, in particular an excavator, comprises: i) lidar sensors mountable on a machine body for essentially continuously detecting the environment of a construction machine, in particular a working area of ​​the construction machine, and generating corresponding environmental data; ii) a data processing device for determining the position of a machine component movable relative to the machine body.

[0057] 14

[0058] based on environmental data; ill) a control device for controlling a movement of the machine component relative to the machine body based on the determined position and / or an interface for outputting information based on the determined position to a machine operator .

[0059] By using lidar sensors, machine components can be positioned relative to objects detected in situ in the machine's environment or to a plan, unlike with conventional systems based on, for example, tilt sensors. Monitoring of the machine's environment can also take place in real time, for example, during work being carried out with the construction machine, thus enabling the localization of the machine component even in a dynamically changing environment. Consequently, lidar-supported position determination, or construction machines equipped with lidar sensors, offer the possibility of particularly reliable and safe machine control.

[0060] The environmental data, or the position of the machine component determined based on this environmental data, can be used in a particularly versatile and comprehensive way if the environmental data can be compared with external data. For this purpose, a preferred embodiment provides a position sensor for satellite-based determination of the lidar sensor's position. The position sensor can generate corresponding position data. The data processing device is advantageously configured to additionally determine the position of the machine component based on this position data. For example, the data processing device can be configured to assign position data to the environmental data, in particular to measurement or data points from the environmental data. For example, each IMX001DE1 05. 05. 2025

[0061] 15

[0062] A measurement or data point from the environmental data can be linked to GPS coordinates or the coordinates of another satellite navigation system. This makes it possible to compare or otherwise relate position information from other sources, such as a cloud, with the determined position and ultimately incorporate it into the control of the machine component. For example, the control device can be configured to use data from the cloud or survey data to check whether there is a danger zone within the sensor-detected machine environment that the machine component should not enter, and to control the movement of the machine component accordingly.

[0063] The control of the machine component, and in particular its operational reliability, can be further improved by extending the detection range and / or increasing the detection resolution. In a further preferred embodiment, an additional lidar sensor can be provided to detect a swivel range of the machine within which a tool can be deployed by swiveling the machine body. Alternatively or additionally, the additional lidar sensor can also be used to specifically detect the working area within which a tool of the construction machine can be deployed by moving the machine component relative to the machine body. The additional lidar sensor can, for example, be mounted on both sides of a boom of the construction machine.

[0064] The control device is preferably configured to use the additional environmental data generated by the additional lidar sensors as the basis for the motion control of the machine component. For example, the control device can be based on the detection of an object imIMX001DE1 05. 05. 2025

[0065] 16

[0066] The swivel range of the machine component can be controlled in such a way as to avoid a collision with the object. It is also conceivable that the data processing device is configured to identify a tool based on the additional environmental data, so that the control device can take the size of the tool into account when controlling its movement.

[0067] Environmental data generated by lidar sensors can be particularly advantageous for controlling the movement of machine components based on ground topography. For example, it is possible to implement a plan with extreme precision and / or to monitor this implementation essentially in real time. In another preferred embodiment, the lidar sensors are mounted on the operator's platform of the construction machine. Advantageously, the lidar sensors are oriented to capture the working area of ​​the construction machine, within which a tool of the machine can be deployed by moving it relative to the machine body. The data processing device is advantageously configured to determine the position of the machine component relative to the ground topography within the working area.By being mounted on the roof of the driver's cab, the lidar sensors can view the work area, particularly the ground, from above, essentially capturing it from a bird's-eye view. This enables a detailed and reliable assessment of the ground topography. If necessary, the soil composition can also be determined, for example, whether it is stony, grassy or otherwise vegetated, sandy, muddy, and / or similar. The control system can also use the information on the soil composition and topography in the work area to automatically remove soil according to a plan or until IMX001DE1 05. 05. 2025.

[0068] 17

[0069] to subtract from a target topography. Work progress can be monitored by continuously capturing the work area using lidar sensors.

[0070] According to a third aspect of the invention, the construction machine, in particular the excavator, has a system according to the second aspect of the invention.

[0071] A data processing device and / or a control device according to the present invention can be configured using hardware and / or software. The data processing device and / or the control device can, in particular, comprise a processing unit, preferably connected to a storage and / or bus system via data or signals. For example, the data processing device and / or the control device can comprise a microprocessor unit (CPU) or a module thereof and / or one or more programs or program modules. The data processing device and / or the control device can be configured to execute instructions implemented as a program stored in a storage system, to acquire input signals from a data bus, and / or to output signals to a data bus.A storage system may comprise one or more, in particular different, storage media, especially optical, magnetic, solid-state, and / or other non-volatile media. The program may be designed such that it at least partially embodies or is capable of executing the methods described herein, so that the data processing device and / or the control device can execute at least some of the steps of such methods and thus, in particular, control a construction machine, especially the movement of a machine component relative to a machine body. IMX001DE1 05.05.2025.

[0072] 18

[0073] The invention will now be explained in more detail with reference to the figures. Where expedient, elements with the same effect are designated with the same reference numerals. The invention is not limited to the embodiments shown in the figures – not even with regard to functional features. The preceding description as well as the subsequent description of the figures contains numerous features, some of which are summarized in the dependent subclaims. However, those skilled in the art will also consider these features, as well as all other features disclosed above and in the subsequent description of the figures, individually and combine them into meaningful further combinations. In particular, all the aforementioned features can each be combined individually and in any suitable combination with the method according to the first aspect of the invention, the system according to the second aspect of the invention, and the construction machine according to the third aspect of the invention.

[0074] They show, at least partially schematically:

[0075] Figure 1 shows an example of a construction machine with a system for controlling the construction machine;

[0076] Figure 2 shows an example of a system for controlling a construction machine using a position sensor;

[0077] Figure 3 is an example of an image of a captured environment of a construction machine;

[0078] Figure 4 shows an example of a system for controlling a construction machine with additional lidar sensors;

[0079] Figure 5 shows an example of a method for controlling an IMX001DE1 05. 05. 2025

[0080] 19

[0081] Construction machine.

[0082] Figure 1 shows an example of a system 10 for controlling a construction machine 1, which in this example is designed as an excavator with a superstructure 1a, a boom 1b, a tool 1c (also referred to as an attachment, e.g., a bucket), a driver's cab 1d, and a chassis 1e. The superstructure 1a, which is rotatable relative to the chassis 1e standing on the ground 30, forms a machine body 2, and the tool 1c is a machine component 4 movable relative to the machine body 2. The system 10 includes a lidar sensor 12 for (sensorially) detecting the environment 6 of the construction machine 1, a data processing device 14 for processing environmental data U generated during the detection of the environment 6, a control device 16 for controlling the construction machine 1, in particular a movement of the machine component 4 relative to the machine body 2, and an interface 18 for outputting information based on the environmental data U, e.g.,to a machine operator on .

[0083] The lidar sensor 12 is mounted on the roof of the operator's cab Id and is therefore particularly suitable for detecting a working area 8a of the construction machine 1. The working area 8a is the area in which the machine component 4, in particular the tool 1c, can be used by movements relative to the machine body 2 or superstructure 1a – with the machine body 2 stationary, i.e., without the superstructure 1a being rotated or moved relative to the ground 30. The environmental data U generated when detecting the environment 6, in particular the working area 8a, characterize the environment 6, in particular the working area 8a. Since the machine component 4 embodied by the tool 1c is by definition always located within the working area 8a IMX001DE1 05. 05. 2025

[0084] 20

[0085] The environmental data U also characterize the machine component 4 or the tool 1c; preferably, the environmental data U also characterize the ground 30 within the working area 8a .

[0086] The data processing device 14 is expediently configured to determine the position P of the machine component 4 relative to the machine body 2 based on the environmental data U. For this purpose, the machine component 4 is expediently detected in the environmental data U, and its position relative to the lidar sensor 12 is then determined. The data processing device 14 can, for example, determine which of the measurement or data points M contained in the environmental data U are or can be assigned to the machine component 4, and which distances d and which angular position relative to the lidar sensor 12 correspond to these measurement or data points M. The position P of the machine component 4 determined in this way can then be used by the control device 16 to control a movement of the machine component 4 relative to the machine body 2.Alternatively or additionally, the determined position P can also be output to the machine operator via interface 18, for example a display. In this case, the machine operator can control the motion of machine component 4 based on the determined position P.

[0087] In addition to the position P of the machine component 4, further information can be derived from the environmental data U. For example, the soil or ground 30 in the machine environment 6, particularly in the working area 8a, can be detected using the lidar sensor 12. In this case, a soil topography 32 can preferably be derived from the environmental data U. The data processing pre-IMX001DE1 05. 05. 2025

[0088] 21

[0089] Direction 14 is configured to also determine the position P of the machine component 4 relative to this ground topography 32. Advantageously, the ground topography 32 or the position P of the machine component 4 relative to the ground topography 32 can be used by the control device 16 as the basis for controlling a movement of the machine component 4. Alternatively or additionally, information on the relative position of the machine component 4 and the ground topography 32 to each other can also be output via interface 18 to a machine operator, who can then control the movement of the machine component 4 taking into account the relative position to the ground 30.

[0090] It is also conceivable to use lidar sensors to detect objects 34, for example obstacles, in the machine environment 6, particularly in the working area 8a, or to identify them based on the environmental data U, in order to take these objects 34 into account when controlling the movement of the machine component 4. In the present example, a power line running through the working area 8a is shown purely as an example. However, such obstacles can also be formed by other objects 34, e.g., buildings, other machines, plants (trees), (piled) building materials, and / or the like.

[0091] The data processing device 14 can, for example, be configured to recognize such objects 34 using an AI-based method or a correspondingly trained model and expediently to determine their position relative to the machine component 4 and / or the machine body 2. The control device 16 is then expediently configured to restrict the range of motion of the machine component 4 based on the determined position of an object 34, so that the machine component 4 and / or an IMX001DE1 05. 05. 2025

[0092] 22

[0093] Another machine part, for example, part of the boom 1b shown in Figure 1, cannot collide with object 34. The control device 16 can move the machine component 4 in such a way that it (or another machine part) does not collide with object 34; alternatively or additionally, the control device 16 can stop a movement of the machine component 4 controlled by a machine operator if this movement threatens a collision with object 34.

[0094] It is particularly advantageous here to determine a distance x between machine component 4 and / or another machine part, e.g., boom 1b, and object 34 (i.e., the obstacle) identified in the environmental data U, based on the environmental data U. For this purpose, the distance x between the measurement or data points M assigned to machine component 4 and the measurement and data points M assigned to object 34 can be determined. Depending on this distance x, the movement speed of machine component 4 can be varied. For example, the movement of machine component 4 can be slowed down, possibly continuously, or a maximum movement speed can be specified in the case of manual control, if the machine component 4 gets too close to object 34. Finally, if the distance x reaches or falls below a predetermined minimum distance, the movement can then be stopped completely.For this purpose, the control device 16 can, for example, comprise a valve control unit (for hydraulically pilot-operated construction machinery 1) or an electronic pilot controller (for electrically pilot-operated construction machinery 1). This valve control unit or pilot controller can then apply a hydraulic or electrical ramp, according to which the movement speed is continuously reduced as the object 34 is approached. IMX001DE1 05. 05. 2025.

[0095] 23

[0096] Figure 2 shows an example of a system 10 for controlling a construction machine 1. In addition to the components already described in connection with Figure 1, the system 10 also includes a position sensor 20 for satellite-based determination of the position of the lidar sensor 12. The position sensor 20 generates position data 0 for this purpose, which allows georeferencing of the lidar sensor 12—and thus of the environmental data U or the machine component 4 detected by the lidar sensor 12. For example, the data processing device 14 can be configured to assign geodetic coordinates to the measurement or data points M from the environmental data U according to i) their distance d and their angular position relative to the lidar sensor 12, ii) the structurally predetermined, known relative position of the lidar sensor 12 to the position sensor 20, and iii) based on received satellite or position signals.

[0097] This makes it possible to relate the determined position P of machine component 4 with external data E, for example from a cloud 22. This external data E can, for example, contain information about areas 8b into which machine component 4 should not or may not be moved. The control device 16 can accordingly impose a movement restriction for machine component 4. The control device 16 can thus control machine component 4 in such a way that it prevents the machine component 4 from entering area 8b or stops a movement of machine component 4—performed manually by a machine operator—that threatens to cause it to enter area 8b.

[0098] In this example, too, the control of the movement of IMX001DE1 05. 05. 2025

[0099] 24

[0100] Machine component 4 depending on the distance x of machine component 4 to the “forbidden” or danger zone 8b.

[0101] The georeferencing of machine component 4 can also enable particularly close monitoring of the progress of work with the construction machine 1 and / or particularly precise fulfillment of planning specifications. For example, the control device 16 can compare the determined position P of machine component 4 and / or a ground topography 32 derived from the environmental data U (which may also be georeferenced based on the assignment of position data 0 to the environmental data U) with a planning specification, for example, based on a previous survey of the construction machine 1's operating location and retrieved from the cloud 22, and control the movement of machine component 4 accordingly.Alternatively or additionally, the relative position of machine component 4, the current ground topography 32, and the plan specification can also be displayed to the machine operator via interface 18, so that the machine operator can control the machine component 4 according to the plan specification on this basis. Such a provision of information is shown in Figure 3.

[0102] Figure 3 shows an example of an image 24 of an enclosed environment 6 of a construction machine. The image 24 depicts the position of a tool 1c, designed as an excavator bucket, or a machine component 4 of the construction machine, relative to a current ground topography 32 and a planned target topography 36. The position P of the machine component 4, as well as the current ground topography 32—and thus also the position of the machine component 4 relative to the ground topography 32—can be determined, for example, using environmental data acquired during the acquisition of the environment by a lidar sensor.

[0103] 25

[0104] The position of the construction machine being generated must be determined. In order to relate the position P of the machine component 4 and the ground topography 32 with the plan specification 36 as shown in Figure 24, the machine component 4 and the ground topography 32, i.e. the environmental data, are expediently georeferenced.

[0105] Figure 4 shows an example of a system 10 for controlling a construction machine 1 with a lidar sensor 12, a data processing device 14, a control device 16 and an additional lidar sensor 26. While the lidar sensor 12 is arranged on a driver's cab Id of the construction machine 1, which is purely exemplary as an excavator, the additional lidar sensor 26 is mounted on both sides of a boom 1b of the construction machine 1, e.g. on the left and right of an excavator arm.

[0106] The arrangement of the lidar sensors 12 on the operator's cab Id enables – among other things – the detection of a working area 8a of the construction machine 1, in which a tool 1c or a machine component 4 of the construction machine 1 can be used by movements relative to a machine body 2 designed as the superstructure la of the excavator. In contrast, the additional lidar sensors 26, due to their arrangement on the boom 1b, can be particularly well used to detect a swivel range S of the construction machine 1, in which the machine component 4 can be used by swiveling the machine body 2 designed as the superstructure la relative to a chassis le.

[0107] The data processing device 14 is configured to determine a position P of the machine component 4 relative to the machine body 2 based on environmental data U generated by the lidar sensor 12 when sensing the environment 6, in particular the working area 8a. IMX001DE1 05.05.2025

[0108] 26

[0109] Control device 16 is designed to use, on the one hand, the position P determined on the basis of the environmental data U and, on the other hand, also the additional environmental data Ul generated by the additional lidar sensor 26 as a basis for controlling a movement of the machine component 4.

[0110] In Figure 4, the construction machine 1 is positioned between two objects 34 or obstacles, which in this example are railway tracks. The railway tracks define (danger) zones 8b into which the machine component 4 must not enter. The objects 34 and, if applicable, the zones 8b associated with them can preferably be automatically detected by the data processing device 14, for example, by means of appropriate processing of the additional environmental data Ul, and taken into account by the control device 16 when controlling the movement of the machine component 4. The additional lidar sensor 26 can thus effectively extend the monitored area around the construction machine 1.

[0111] Alternatively or additionally, the additional lidar sensor 26 can also be positioned or aligned in such a way that it can also detect the working area 8a of the construction machine 1. This can be advantageous, for example, if the lidar sensor 12 can already detect the surroundings 6 of the construction machine 1 over a wide area – and thus also the objects 34 located in the swivel range S – but at the same time a higher-resolution detection of the working area 8a is desirable. In this case, the additional lidar sensor 26 can also be used to identify the tool 1c being used on the boom 1b.

[0112] Figure 5 shows a method 100 for controlling a construction machine, in particular an excavator. IMX001DE1 05.05.2025

[0113] 27

[0114] In process step SI, the environment of the construction machine, in particular its working area, is essentially continuously captured using lidar sensors mounted on the machine body, and corresponding environmental data is generated. The lidar sensors can, for example, scan the machine's surroundings in a grid pattern. Each point in this grid can constitute a measurement or data point for the environmental data, characterized by its distance and angular position relative to the lidar sensors.

[0115] In a further process step S2, the position of a machine component that moves relative to the machine body, for example, an attachment such as an excavator bucket, can be determined based on this information. This position determination can be performed relative to the machine body or the lidar sensor mounted on it; however, it is also conceivable to determine the position of the lidar sensor using satellite technology in a further process step S3 and to use the position data generated in this way to determine the position of the machine component. Thus, the machine component and the environmental data generated by the lidar sensor can be georeferenced through satellite-based position determination of the lidar sensor.The position of the machine component, as well as other objects detected within the detection range of the lidar sensors and identified based on the environmental data, can thus be assigned geodetic coordinates, for example GPS coordinates.

[0116] In a further process step S4, a movement, for example a lifting or swiveling movement, of the machine component relative to the machine body is controlled based on the position determined in process step S2. The movement IMX001DE1 05. 05. 2025

[0117] 28

[0118] For example, it can be controlled in such a way that a collision with objects detected in the vicinity of the construction machine based on environmental data is avoided or prevented. For instance, the range of motion within which the machine component can move relative to the machine body can be limited accordingly.

[0119] The movement of the machine component in process step S4 can be controlled automatically, for example by means of a suitable control device, or manually by a machine operator – possibly assisted by the control device. To provide the machine operator with a correct understanding of the dimensions and distances between the machine component, the current ground topography, and a plan specification – i.e., a desired result of the work with the construction machine – it is advantageous to output corresponding information to the machine operator via an interface in a further process step S6. This information is expediently based on the position of the machine component relative to the machine body determined in process step S2 and the georeferencing in process step S3. For example, in process step S6, an image of the ground topography captured by the lidar sensors can be displayed.The ground topography derived from the environmental data and the machine component are displayed. This image also conveniently includes the plan specification, for example, a target topography. This allows the machine operator to see, for instance, how the soil still needs to be moved in process step S4 to meet the plan specification.

[0120] For a scale representation of the machine component, e.g., a tool or attachment of the construction machine, see Ver-IMX001DE1 05. 05. 2025

[0121] 29

[0122] In process step S6, it is important to know the size of the machine component. Therefore, in a process step S5 preceding process step S6, a tool of the construction machine is automatically identified, and the result of this identification is taken into account in the mapping in process step S5. Alternatively or additionally, the result of the identification can also be used as the basis for the motion control of the machine component in process step S4, if this is at least partially automated. This is indicated by the dashed arrow and is important when working with high accuracy. IMX001DE1 05.05.2025

[0123] 30

[0124] Reference symbol list

[0125] 1 construction machine

[0126] la upper carriage

[0127] lb outrigger

[0128] lc tool

[0129] Id Driver's cab

[0130] the chassis

[0131] 2 machine bodies

[0132] 4 machine components

[0133] 6 Environment

[0134] 8a Work area

[0135] 8b area

[0136] 10 System

[0137] 12 Lidar sensors

[0138] 14 Data processing device 16 Control device

[0139] 18 Interface

[0140] 20 Position sensor

[0141] 22 Cloud

[0142] 24 Image

[0143] 26 additional lidar sensors 30 ground

[0144] 32 Soil topography

[0145] 34 Objects

[0146] 36 Planning specification

[0147] 100 procedures

[0148] 51 Capture the environment

[0149] 52 Determine position

[0150] 53 Georeferencing

[0151] 54 Controlling movement

[0152] Identify 55 tools

[0153] Output 56 information IMX001DE1 05.05.2025

[0154] 31

[0155] Environmental data

[0156] Additional environmental data (0 position data)

[0157] M Measurement or data point

[0158] d distance

[0159] x distance

[0160] S swivel range

[0161] P Position

[0162] External data

Claims

IMX001DE1 05.05.2025 32 Patent claims 1. Method ( 100 ) for controlling a construction machine ( 1 ), in particular an excavator , comprising: - essentially continuous detection ( S l ) of an environment ( 6 ) of the construction machine ( 1 ) by means of a lidar sensor system ( 12 ) mounted on a machine body ( 2 ) and generation of corresponding environmental data (U) ; - Determining (S2) a position (P) of a machine component (4) movable relative to the machine body (2) based on the environmental data (U); - Control ( S4 ) a movement of the machine component ( 4 ) relative to the machine body ( 2 ) based on the determined position ( P ) .

2. Method ( 100 ) according to claim 1 , characterized by this , that - a position of the lidar sensor ( 12 ) is determined by means of a position sensor ( 20 ) using satellite support ( S3 ) and corresponding position data ( 0 ) are generated; - the position (P) of the machine component (4) is additionally determined on the basis of the position data (0).

3. Method (100) according to one of claims 1 or 2, characterized by , that a range of motion of the machine component ( 4 ) is restricted based on the determined position of the lidar sensor ( 12 ).

4. Method (100) according to any one of the preceding claims, characterized by IMX001DE1 05.05.2025 33 that, based on the determined position (P), a distance of the machine component (4) to a previously known or known object (34) and / or to a previously known area (8b) in the environment (6) of the construction machine (1) is determined and used as the basis for the motion control of the machine component (4).

5. Method ( 100 ) according to any one of the preceding claims, characterized by , that, depending on the determined position (P), the movement of the machine component (4) is slowed down and / or the movement is prevented.

6. Method ( 100 ) according to any one of the preceding claims, characterized by , that by means of lidar sensors ( 12 ) a working area ( 8a ) in which a tool ( 1c ) of the construction machine ( 1 ) can be used by movements relative to the machine body ( 2 ) is detected and on the basis of environmental data (U) generated thereby the position ( P ) of the machine component ( 4 ) relative to a ground topography ( 32 ) in the working area ( 8a ) is determined .

7. Method ( 100 ) according to any one of the preceding claims, characterized by , that by means of an additional lidar sensor ( 26 ) a swivel range ( S ) of the construction machine ( 1 ), in which a tool ( 1c ) of the construction machine ( 1 ) can be used by swiveling the machine body ( 2 ), is additionally detected and the additional environmental data (Ul ) generated thereby are additionally used as a basis for the motion control of the machine component ( 4 ).IMX001DE1 05 . 05 . 2025 34 8. Method ( 100 ) according to any one of the preceding claims, characterized by , that, based on the environmental data (U) and / or the additional environmental data (Ul), an object (34) or a structure in the environment (6) of the construction machine (1) is automatically recognized and the position of the object (34) relative to the construction machine (1) is taken into account in the motion control of the machine component (4).

9. Method ( 100 ) according to any one of the preceding claims , characterized by , that a tool ( 1c ) for the construction machine ( 1 ) is automatically identified ( S5 ) on the basis of the environmental data (U) and / or the additional environmental data (Ul ) and a result of this identification is used as the basis for the motion control of the machine component ( 4 ).

10. Method ( 100 ) according to any one of claims 2 to 9 , characterized by , that the recorded environment ( 6 ) of the construction machine ( 1 ) is essentially continuously compared with a plan specification ( 36 ) based on the environment data (U) and the position data ( 0 ).

11. Method ( 100 ) according to any one of claims 2 to 10 , characterized by , that, based on the environmental data (U), an image ( 24 ) of the recorded environment ( 6 ) of the construction machine ( 1 ) is generated and, together with a plan specification ( 36 ), is visually reproduced ( S 6 ).

12. System ( 10 ) for controlling a construction machine ( 1 ), in particular an excavator , with IMX001DE1 05.05.2025 35 - a lidar sensor system (12) that can be mounted on a machine body (2) for the essentially continuous detection of an environment (6) of a construction machine (1) and the generation of corresponding environmental data (U); - a data processing device ( 14 ) for determining a position ( P ) of a machine component ( 4 ) movable relative to the machine body ( 2 ) on the basis of the environmental data (U) ; - a control device ( 16 ) for controlling a movement of the machine component ( 4 ) relative to the machine body ( 2 ) on the basis of the determined position ( P ) and / or an interface ( 18 ) for outputting information based on the determined position ( P ) to a machine operator .

13. System (10) according to claim 12, characterized by a position sensor ( 20 ) for satellite-based determination of a position of the lidar sensor ( 12 ) and generation of corresponding position data ( 0 ), wherein the data processing device ( 14 ) is configured to additionally determine the position ( P ) of the machine component ( 4 ) on the basis of the position data ( 0 ).

14. System ( 10 ) according to one of claims 12 or 13 , characterized by an additional lidar sensor (26) for detecting a swivel range (S) of the construction machine (1) in which a tool (1c) of the construction machine (1) can be used by swiveling the machine body (2), wherein the control device (16) is configured to use the additional environmental data (Ul) generated in this way as a basis for the motion control of the machine component (4). IMX001DE1 05.05.2025 36 15. System ( 10 ) according to one of claims 12 to 14 , characterized by , that the lidar sensor ( 12 ) is mounted on a driver's cab ( Id) of the construction machine ( 1 ) and is aligned to detect a working area ( 8a ) of the construction machine ( 1 ) in which a tool ( 1c ) of the construction machine ( 1 ) can be used by movements relative to the machine body ( 2 ), and the data processing device ( 14 ) is set up to determine the position ( P ) of the machine component ( 4 ) relative to a ground topography ( 32 ) in the working area ( 8a ).

16. Construction machine ( 1 ), in particular excavator, with a system ( 10 ) according to one of claims 12 to 15 .

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