EP4314419A1

EP4314419A1 - Method for determining the position and spatial orientation of a tool of an agricultural vehicle

Info

Publication number: EP4314419A1
Application number: EP22716901.8A
Authority: EP
Inventors: Emanuel SIZMANN
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-03-23
Filing date: 2022-03-18
Publication date: 2024-02-07
Also published as: WO2022200220A1; DE102021107197A1

Abstract

The invention relates to a method for determining the position and spatial orientation of a soil-working tool (2) on an adjustable boom (3) of an agricultural vehicle (1), having the steps of: (S1100) determining a position data set (PDS), which indicates the position of an orientation-and-position-determining unit (8) of an orientation-and-position-determining assembly (4) on the tool (2), using a GNSS module (702) of the orientation-and-position-determining unit (8); (S1200) determining an orientation data set (LDS), which indicates the spatial orientation of the orientation-and-position-determining unit (8), using an orientation sensor assembly (703) of the orientation-and-position-determining unit (8); (S1300) evaluating the position data set (PDS) and the orientation data set (LDS) using a calibration data set (KDS, KDS') in order to determine an output data set (ADS) which indicates the spatial orientation and position of the tool (2); and (S1400) outputting the output data set (ADS).

Description

PROCEDURE FOR DETERMINING THE POSITION AND SPATIAL LOCATION OF A TOOL OF A LAND VEHICLE

The invention relates to a method for determining the position and spatial location of a tool for tilling the soil on an adjustable boom of a land vehicle. The invention also relates to a computer program product, a system for determining the position and position in space of a tool for tillage on an adjustable boom of a land vehicle and a position and position determination assembly for such a system.

A position determination is understood to be the determination of a position of the tool or a section of the tool in relation to a defined fixed point, while the spatial position determination is understood as the determination of the alignment of the tool to the surrounding space, especially with regard to the horizontal or the perpendicular direction.

On construction sites, soil processing is carried out according to plan specifications, which are typically either relative to a reference point or as absolute geostationary three-dimensional position data. This may include, for example, leveling an area to an absolute elevation or an elevation relative to a reference point, or excavating three-dimensional soil profiles.

Construction machines such as excavators are used for this. In this context, an excavator is understood to be a construction machine for loosening and moving soil and rock, in particular for digging and backfilling of earth depressions, such as building pits and shafts.

Such excavators are designed as self-propelled land vehicles and have a structure which can be rotated about its vertical axis on a chassis of the excavator and has a boom, at the distal end of which a tool, such as an excavator shovel, is attached. The boom itself has a plurality of joints and can thus be displaced radially inwards and outwards with them will. The displacement of the boom and the tool is usually effected by hydraulics or electric motors.

Depending on the building specifications, floor profiles often have to be executed with an accuracy of a few centimetres. For example, a flat surface with a maximum deviation of +/-1.5 cm in relation to the geostationary position and height is required for a floor slab of a house. The creation of soil profiles with the above accuracy and absolute positioning requires a specially equipped excavator or complex measurement methods.

Alternatively, an excavator that is not specially equipped for this purpose is used, particularly on small construction sites, with another person determining the height to be removed with measuring equipment between each earth-working operation. The machine operator of the excavator and the other person can provide such a soil profile in cooperation. A construction site measuring device to support such work is known, for example, from WO 2014/146809 A1. However, this procedure is time-consuming and personnel-intensive.

A specially equipped excavator can also be used, mostly based on GNSS (Global Satellite Navigation Systems such as GPS, Galileo, GLONASS and Beidu) and/or laser reference plane, with a technically complex solution that is fully integrated in the excavator. Such systems are factory installed. These excavators are equipped with sensors on all moving parts of the boom that carry the tool and must be calibrated and measured accordingly. These specially equipped excavators often use systems that intervene in the machine controls and partially automate the excavation process.

Such a system is known, for example, from WO 2008/091395 A2. The system is designed for three-dimensional guidance of an excavator, based on GPS and laser reference, and includes a mobile GPS receiver, a system for positioning a tool in relation to the excavator, a Laser detector as well as a built-in control system. However, an external laser source can easily be shadowed and must be readjusted if the depth changes significantly. Furthermore, the attachment and Ka calibration are expensive.

With such a system, the work process can be carried out significantly faster, but specially equipped excavators and machine operators who have been trained in the system are required. These must be moved between construction sites as required. This procedure is common on large construction sites.

Excavators that are not specially equipped for this purpose can also be used, which are retrofitted accordingly. Retrofitting options are known, but they are technically complex. When installing such systems, manual measurement and calibration of at least part of the excavator geometry, such as the boom, is necessary so that a control unit can determine the position of the tool.

With GNSS-based systems, several of these pivot points or articulation points of the boom usually have to be recorded, since the GNSS receiver is typically attached to the hull of the excavator. The calibration is therefore a time-consuming and technically complex process.

There are also retrofit systems that get by with fewer pivot points and work, for example, via optical laser reference planes. Such a system is known, for example, from DE 3 875 332 T2 for determining a depth to which an excavator should dig a trench. This system interacts with an external laser source to reference the depth of the trench to a specified distance below the plane of the beam generated by the laser. External laser sources are used for this purpose, which can be easily shaded and must be readjusted with every major change in depth. Furthermore, the attachment and calibration are expensive. There are also systems that use a combination of the two methods mentioned above and therefore have to be measured and calibrated in a correspondingly complex manner. Furthermore, there are also proposed solutions that track the tool from the excavator body using other technologies, thus avoiding the need for complex sensors and measurements on the boom.

An integrated sensor unit for machine control is known from US 2019/0003825 A1, which supports a machine operator in finding the correct excavation depth. The integrated sensor unit includes an acceleration sensor, a laser distance sensor (LDM) and a laser receiver for detecting a laser reference plane and optionally a GPS receiver. This unit is attached to the boom of the excavator and can detect the position of a tool via the LDM. Manual measurement is required for calibration. A suitable LDM reference must be attached for use.

DE 2020 10018131 U1 discloses a detection of transport status information via transponders attached to the transport object by a transport device, which records movement data, e.g. via a GPS. Transport status information can also include distances between the transport device and the transponder. This provides a system that makes it possible to determine the distance between an RFID transponder, which can be attached to a tool, for example, and a transport device such as an excavator. Although RFID (Radio-Frequency Identification) can achieve good distance resolution with a clear line of sight to the transponder, measuring the angle between the excavator body and the tool is technically complex and imprecise.

EP 1 029 306 B1 discloses a method for optically detecting the position and spatial location of a tool in relation to a machine. This method uses markers on the tool to be followed, which one have predetermined relative position to each other. The detection is based on image processing algorithms. For example, the position and spatial position of an excavator shovel in relation to the excavator can be determined. One sensor unit is sufficient for tracking the tool, but depending on the technology, possibilities of use and/or resolution are limited. For example, optical processes depend on always having a sufficient view of the tool. Furthermore, this method is sensitive to contamination of the markers or a camera.

US Pat. No. 6,665,465 B2 discloses a clearing blade control system for a construction machine designed as a grader, in which the position and inclination of a clearing blade is recorded and adjusted using an ultrasonic sensor, starting from the reference point.

A guidance system for an excavator is known from US 2016/0076228 A1, on the boom of which a laser sensor is arranged.

A method for calibrating a detection device and a detection device is known from EP 2 806 248 A1.

There is therefore a need to show ways of simplifying the determination of the position and spatial orientation of a tool.

The object of the invention is achieved by a method for determining the position and spatial orientation of a tool for soil cultivation on an adjustable boom of a land vehicle, with the steps:

Determining a position data set indicative of the position of a location and position determination unit of a location and position determination assembly on the tool with a GNSS module of the location and position determination unit, Determining a position data set indicative of the position in space of the position and position determination unit with a position sensor assembly of the position and position determination unit,

Evaluating the position data set and the position data set using a calibration data set in order to determine an initial data set indicative of the spatial position and position of the tool, and

Output of the output data record.

Position data originating from a GNSS system and position data originating from a position sensor assembly of the attitude and position determination unit of the attitude and position determination assembly are combined in order to determine the position in space and position of the tool.

The position sensor assembly can be designed as an acceleration sensor assembly with at least two measurement axes and is designed, for example, to determine the current spatial position by comparing at least two acceleration values that are detected in the direction of the at least two measurement axes.

The attitude and position determination assembly or a component of the attitude and position determination assembly, such as the attitude and position determination unit, with a GNSS module, can be attached to the tool at an essentially freely selectable position. An essentially freely selectable position is understood to mean a position that ensures a sufficient connection quality to satellites of the GNSS system.

The calibration data record allows the position data and position data that are indicative of the position in space and position of the attitude and position determination unit or a component of the attitude and position determination unit are to be evaluated in order to be able to determine the location and position of a reference mark of the tool.

In other words, a coordinate transformation or a base change is carried out with the calibration data record, so that the spatial position and location of the position and position determination unit of the position and position determination assembly can be used to determine the spatial position and position of the reference mark.

The reference mark can be a defined point on the tool, a line corresponding to an edge on the tool, or a tool tip. In other words, the reference mark is a point or edge on the tool where the tool comes into contact with the media to be processed.

This makes it possible to directly determine the position and spatial location of the tool. There is therefore no need, starting from a work tool carrier, such as a land vehicle, to infer the position and spatial position of the tool in a complex manner.

This means that there is no need, for example, for specially trained construction machines with e.g. GNSS systems, but if necessary, a land vehicle such as a construction machine can be quickly retrofitted accordingly. The assembly is simplified by the free choice of the position of the location and position determination unit of the location and position determination assembly and subsequent calibration with the calibration data set and there are no complex calibrations as with such a specially trained construction machine ex works.

According to one embodiment, the following steps are carried out to determine the calibration data set: Attaching the location and position determination unit to the tool,

aligning a reference mark of the tool by tilting the tool in such a way that the reference mark is perpendicular to the location and position determination unit,

determining a distance between the location and position determination unit and the reference mark,

reading the distance from the location and position determination unit,

Determining a vertical deviation of the location and position determination unit with the location sensor assembly of the location and position determination unit, and

Generation of the calibration data record by evaluating the plumb deviation and the distance.

This is therefore a manual process in which the distance between the attitude and position determination unit of the attitude and position determination assembly and the reference mark is measured, for example, by a machine operator with a meter stick or a similar measuring device with an accuracy of e.g. 0, 5 cm is determined and then provided via an HMI (Human Machine Interface, user interface) of the location and position determination unit. The vertical deviation, on the other hand, is determined automatically, i.e. without intervention by the machine operator. With this method, a calibration data set can also be determined if no data from a GNSS system is available, e.g. if there is no reception.

According to a further embodiment for determining the calibration data set, the following additional steps are carried out: Aligning the tool in such a way that the tool assumes a predetermined position with a predetermined inclination, in particular with a maximum inclination, and the reference mark remains at the same predetermined position during the alignment, with position data being compared with the GNSS system during the alignment module of the situation and position determination unit are recorded,

Determining differential data by evaluating the specific calibration data set and the specific position data, and

Supplementing the calibration data set by evaluating the differential data.

This is a process that builds on the previous manual process and adds automated steps to it. In other words, it is a combined manual/automatic or semi-automatic process.

However, this requires data from a GNSS system. They are detected after the reference mark of the tool has been brought into a first, predetermined position in accordance with the previous manual method, in which it is perpendicular to the location and position determination unit, and the tool is now starting from this first, predetermined one Position is brought by changing the inclination of the tool in a further, second predetermined position with a predetermined inclination, wherein the reference mark remains during the alignment at the same predetermined position.

Provision can be made for a machine operator to be prompted, for example by an HMI, to manually align the tool accordingly. Alignment can also be performed automatically by a control data set. The control data record can be a predetermined sequence of control commands, with which the tool is brought into the specified, predetermined position without further intervention by a machine operator. The predetermined position can be a position of maximum inclination, in which one or more joints of the cantilever are at their stop and further pivoting is no longer possible. The control data record can be activated automatically during the course of the process.

Because the reference mark remains in its position, i.e. is stationary, while the other sections of the tool are displaced, the location and position determination unit of the position and position determination assembly describes a displacement along a circular or circular segment-shaped trajectory.

A comparison then takes place of data based on the GNSS data with data obtained on the basis of the calibration data set obtained using the manual method. In other words, both methods are compared with one another and an error or a deviation is determined, which then leads to an improved, supplemented calibration data set.

In this way, the accuracy of the position and spatial position determination can be further increased.

This procedure can also be carried out if a GNSS system is available again after an interim failure.

According to a further embodiment, the following steps are carried out to determine the calibration data set: Attaching the location and position determination unit to the tool,

Relocating the tool to approach a predetermined geostationary point for the tool, and acquiring a first measured value at a first measuring point, with position data indicative of the position of the attitude and position determination unit with the GNSS module of the attitude and position determination unit, and with La data indicative of the position in space of the attitude and position determination unit with the position sensor assembly of the attitude and position determination unit,

Displacing the tool in such a way that an inclination of the tool is changed, with a reference mark of the tool remaining at a same, predetermined position,

Acquisition of at least two further measured values at at least two further measuring points, with further position data indicative of the position of the attitude and position determination unit with the GNSS module of the attitude and position determination unit by carrying out the previous step and this step at least twice,

evaluating the measured values in order to determine a vertical deviation of the location and position determination unit and/or a distance between the location and position determination unit and the reference mark,

Generation of the calibration data record by evaluating the perpendicular deviation and/or the distance.

This is an automated process that does not require manual measurement by the machine operator. Data from a GNSS system is also a prerequisite for this procedure. The position data can only be acquired when acquiring the first measured value at the first measuring point. However, it can also be provided that the location data is also recorded at the other measuring points.

For the evaluation, it can be provided that a target curve is approximated by a circle or a section of a circle, taking into account measurement points according to the position data, e.g. by Least SquareFit or Taubinfit, in order to determine the radius of the approximated circle or section of a circle that is representative of the distance is.

A total of at least three measuring points are controlled by moving the tool and then measured values are recorded and evaluated. The accuracy can be increased if the number of controlled measuring points is increased.

With this method, too, the reference mark remains in its position while the other sections of the tool are relocated. This also simplifies the evaluation in this method.

According to a further embodiment, the following steps are carried out to determine the calibration data set:

Attaching the location and position determination unit to the tool,

Relocating the tool to approach a predetermined geostationary point for the tool, and acquiring a first measured value at a first measuring point, with position data indicative of the position of the attitude and position determination unit with the GNSS module of the attitude and position determination unit, and with La - data indicative of the position in space of the attitude and position determination unit with the position sensor assembly of the attitude and position determination unit,

Acquisition of a second measured value at a second measuring point, with further position data indicative of the position of the attitude and position determination unit with the GNSS module of the attitude and position determination unit, and with further position data indicative of the position in space of the attitude and position determination unit with the Position sensor assembly of the attitude and position determination unit,

evaluating the measured values in order to determine a vertical deviation of the location and position determination unit and/or a distance between the location and position determination unit and the reference mark, and

This is also an automatic process that does not require manual measurement by the machine operator.

Data from a GNSS system is also a prerequisite for this procedure. The position data are recorded here when the first measured value is recorded at the first measuring point and the second measured value is recorded at the second measuring point. However, provision can also be made for further measurement values, including the position data, to be recorded at further measurement points. Here, too, it can be provided for the evaluation that a target curve is approximated by a circle or a circle section, taking into account measuring points according to the position data, e.g. by Least SquareFit or Taubinfit, in order to determine the radius of the approximated circle or circle section that is representative of the distance is.

Attaching the location and position determination unit to the tool,

Determining a first alignment data set indicative of the position of the attitude and position determination unit on the tool with the GNSS module of the attitude and position determination unit at a first measuring point,

Relocating, in particular moving in a straight line, a reference mark of the tool from the first measuring point to a second measuring point by moving, in particular moving in a straight line, the boom in such a way that a distance between the land vehicle and the reference mark is changed,

determining a second alignment data set indicative of the position of the location and position determination unit on the tool with the GNSS module of the location and position determination unit at the second measuring point, and

Generating the calibration data set by evaluating the first alignment data set and the second alignment data set. After the determination of the first alignment data set with the tool at the first measuring point, the tool with the reference mark is shifted in such a way that the distance between the land vehicle and the tool is changed. This is done with the boom in such a way that the tool is moved essentially parallel to the reference mark over the ground. In this context, “substantially” is understood to mean within technically caused deviations in the control of the boom. There is no tilting of the tool. For example, if the tool is designed as an excavator shovel, there is no rotational movement to change the inclination of the shovel. Furthermore, the boom does not rotate about the vertical axis of the land vehicle. Thus, the tool does not rotate about the vertical axis of the land vehicle. If, for example, the land vehicle is designed as an excavator with a structure that can be rotated about its vertical axis and has a boom, there is no rotation about the vertical axis of the rotatable structure. In other words, the displacement takes place in a straight line and without any rotational components. Deviating from this, the displacement can also take place in a non-linear manner, for example in an S-shape. However, it is essential here that the first measuring point and the second measuring point are connected by a linear equation to be parameterized.

After shifting to the second measuring point, the second alignment data set is then determined. The first and second alignment data sets each contain data indicative of the positions of the reference mark at the first measurement point and the second measurement point. With the help of the data indicative of the positions, parameters of the straight line equation parameterizing a straight line equation connecting the positions can be determined.

With data from the GNSS module of the location and position determination unit indicative of the position of the North Pole or the position of longitude and latitude straight lines of a Cartesian coordinate system, a calibration data set can be determined, which is a calibration in relation to the North Pole or the Position of lines of longitude and latitude of a Cartesian coordinate system team allowed. In other words, by determining the calibration data record, the absolute orientation of the tool in relation to the North Pole or the absolute direction of the compass can be determined. This improves compliance with absolute plan specifications for tillage. By determining the calibration data set, the functionality of a compass can be provided with just a single GNSS module. Furthermore, with this calibration data set, a land vehicle's own coordinate system can be aligned with the position of the north pole or the position of longitude and latitude lines of a Cartesian coordinate system.

According to a further embodiment, an inertial navigation system of the position and position determination unit is used, which additionally provides data for the position data set. By combining the GNSS system with the inertial navigation system, the briefly accurate but drifting inertial system can be merged with the long-term stable but briefly variable fluctuating data of the GNSS system. This enables a more precise determination of the position as well as a position determination that is sufficiently precise for a short time in the event of a short-term interruption of a connection to the GNSS system. A brief interruption of a connection to the GNSS system can occur during an excavation process, for example, if the excavated earth is moved in a tool designed as an excavator shovel and the GNSS antenna does not have a clear field of view to the satellites of the GNSS system.

The invention also includes a computer program product, a system for determining the position and position in space of a tool for soil processing on an adjustable boom of a land vehicle and a position and position determination assembly for such a system. The situation and position determination assembly can have a display device and/or a terminal and/or control output device, the display device and/or the terminal and/or control output device being designed as a mobile device. The invention will now be explained with reference to the figures. Show it:

FIG. 1 shows a schematic representation of a land vehicle with a system for determining the position and spatial orientation of a tool on the land vehicle.

FIG. 2 shows, in a schematic representation, further details of the boom with the tool shown in FIG.

FIG. 3 shows further details of the tool shown in FIG. 1 in a schematic representation.

FIG. 4 shows a schematic representation of components of the system shown in FIG.

FIG. 5 shows further details of the reference station shown in FIG. 4 in a schematic representation.

FIG. 6 shows further details of one of the components of the system shown in FIG. 1 in a schematic representation.

FIG. 7 shows a schematic representation of a tool during a calibration process.

FIG. 8 shows a tool during a further calibration process in a schematic representation.

FIG. 9 shows a further calibration process in a schematic representation.

FIG. 10 shows a further calibration process in a schematic representation. FIG. 11 shows a schematic representation of a process sequence according to a first exemplary embodiment for calibrating the system shown in FIG.

FIG. 12 shows a schematic representation of a process sequence according to a second exemplary embodiment for calibrating the system shown in FIG.

FIG. 13 shows a schematic representation of a process sequence according to a third exemplary embodiment for calibrating the system shown in FIG.

FIG. 14 shows a schematic representation of a method sequence according to a fourth exemplary embodiment for calibrating the system shown in FIG.

FIG. 15 shows a schematic representation of a tool during a calibration process according to a fifth exemplary embodiment for calibrating the system shown in FIG.

FIG. 16 shows, in a schematic representation, further details of the calibration process according to the fifth exemplary embodiment.

FIG. 17 shows a schematic representation of a process sequence according to the fifth exemplary embodiment for calibrating the system shown in FIG.

FIG. 18 shows a schematic representation of a process sequence for operating the system shown in FIG.

Reference is first made to FIG. A land vehicle 1 is shown with a system 21 for determining the position and spatial orientation of a tool 2 of the land vehicle 1 .

In the present embodiment, the land vehicle 1 is designed as an excavator with an adjustable boom 3, at the end of which the tool 2 is attached, which is designed as an excavator shovel in the present embodiment. With such a land vehicle 1, for example, soil processing can be carried out according to plan specifications, in which case the surface of the earth is processed only with a reference mark 11 of the tool 2. When the reference mark 11 is in the present game Ausführungsbei a tool tip of the tool 2, with which the earth's surface is processed. Deviating from the present exemplary embodiment, the reference mark 11 can be a defined point on the tool 2 or a line corresponding to an edge on the tool 2. Furthermore, deviating from the present exemplary embodiment, the agricultural vehicle 1 can also be designed as another construction machine with a different tool or as an agricultural machine with a corresponding tool.

Of the components of the system 21 for determining position and spatial position, a position and position determination module 4 and a terminal and/or control output device 6 are shown in FIG.

In the present exemplary embodiment, the location and position determination module 4 has a location and position determination unit 8 and a display device 5 . Deviating from the present exemplary embodiment, the attitude and position determination subassembly 4 can also only have the attitude and position determination unit 8 .

While the attitude and position determination unit 8 is attached to the tool 2 and the display device 5 to the boom 3 , the terminal device and/or the control output device 6 is arranged in the driver's cab of the land vehicle 1 . The terminal and/or control output device 6 can also be designed as a mobile device. A mobile device is understood to mean an end device which, due to its size and weight, can be carried without any major physical exertion and can therefore be used on the move. Examples of mobile devices are smartphones or tablet computers and notebooks.

Reference is now additionally made to FIG.

The orientation and position determination unit 8 and the display device 5 are each fastened to the tool 2 or the boom 3 without tools and can also be detached from the tool 2 or the boom 3 without tools in the present exemplary embodiment. For this purpose, magnets 9 are seen between the location and position determination unit 8 and the tool 2 and between the display device 5 and the boom 3 tween. It can be strong permanent magnets such as NdFeB magnets.

Deviating from the present exemplary embodiment, a frame-shaped holder 10 can also be used in order to attach the location and position determination unit 8 to the tool 2 and/or the display device 5 to the extension ger 3 . The use of the frame-shaped bracket 10, which is firmly connected to the tool 2 or the boom 3, ensures that the location and position determination unit 8 and/or the display device 5 each have defined positions and spatial positions, which also after a separation or disassembly and re-assembly of the location and position determination unit 8 and/or the display device 5 are preserved. This also reduces the effort for calibrations.

Reference is now additionally made to FIG.

Location and position determination unit 8 is placed on tool 2 in such a way that at least in certain positions of tool 2 there is a clear field of view of satellites 701 (see FIG. 4) of a GNSS system. For this purpose, the attitude and position determination unit 8 is arranged on an upper side of the tool 2 designed as an excavator shovel.

A GNSS system (Global Navigation Satellite System) is understood to mean a system for determining position and navigating on earth and also in the air by receiving signals from satellites 701 . The GNSS system can be a system such as GPS, Galileo, GLONASS or Beidu.

By receiving and applying GNSS correction data, such as RTCM (Radio Technical Commission for Maritime Services) data for RTK (Real Time Kinematic), time-of-flight errors through the atmosphere and ionosphere can be corrected and thus precise values for the position can be determined. The GNSS system can also be designed as a DGPS system (Differential Global Positioning System), in which the accuracy of the GNSS navigation is increased by broadcasting correction data (orbit and time system).

In the present exemplary embodiment, the system 21 and its components are designed for wireless, bidirectional data exchange and each have their own operating power supply. The system 21 and its components can each have hardware and/or software components for the tasks and functions described below. Thus, e.g. the display device 5 and/or the end device and/or control output device 6 and/or the location and position determination unit 8 can have software components of a computer program product for operating the system 21, the software components being designed in particular as modules.

Reference is now also made to FIG. 4 in order to explain further details of the components shown in FIG. 1 and a reference station 7 . In the present exemplary embodiment, location and position determination unit 8 has the following subcomponents:

A GNSS module 702 for receiving position data PD of the GNSS system, a sensor assembly in the present embodiment as an acceleration sensor assembly (IMU - Inertial Measuring Unit) trained position sensor assembly 703 with at least two measuring axes for detecting the position and position determination unit 8, a transmitter and receiving module 706a for wireless data exchange with the other components of the system 21 for determining position and position in space, a display unit 704a, an input device 705, a microcontroller as a computing unit for position and position calculation and an accumulator 707a for operating power supply.

The position sensor assembly 703 is designed to, by comparing at least two acceleration values that are detected in the direction of at least two measurement axes, the current spatial position of the attitude and position determination assembly 4 in relation to gravity or to the perpendicular L (see, e.g., Figure 7) to determine.

In the present exemplary embodiment, the at least two measurement axes of the respective acceleration sensors of the position sensor assembly 703 are arranged orthogonal to one another in order to determine the spatial position or an inclination of the tool 2 . With the aid of the microcontroller, the position and position as well as the alignment of the reference mark 11 are determined from the position data PD and the position data LD of the position sensor assembly 703 and, in the present exemplary embodiment, a first calibration data set KDS and a second calibration data set KDS', as will be done later will be explained in detail later.

The attitude sensor assembly 703 may also include an inertial navigation system. It can combine the short-term accurate but drifting inertial system with the long-term stable but short-term variable fluctuating data of the GNSS systems are merged. This enables a more precise determination of the position as well as a position determination that is sufficiently precise for a short time in the event of a short-term interruption of a connection to the GNSS system. A brief interruption of a connection to the GNSS system can occur during an excavation process, for example, if the excavated earth is moved in a tool 2 designed as an excavator shovel and the GNSS antenna 13 (see Figure 6) has no clear field of view to the satellites 701 .

Based on this data, the microcontroller calculates the difference between an actual position and a target position of the tool 2 during operation and displays it, for example, on the display unit 704a or transmits it to an external device.

In the present exemplary embodiment, the display device 5 has a display unit 704b, a transmission and reception module 706b and an accumulator 707b.

In the present exemplary embodiment, the terminal device and/or control output device 6 has a display unit 704c and a transmission and reception module 706c. In the present exemplary embodiment, a connection to an on-board network of the land vehicle 1 is provided for operating energy supply. Deviating from the present exemplary embodiment, an accumulator can also be provided for supplying operating energy.

The terminal and/or control output device 6 can be designed to read in a three-dimensional position data map. An absolute height and/or an absolute position of the tool 2 or the reference mark 11 is then displayed, for example, via the display unit 5 . An error or a deviation from a target height of the tool 2 or the reference mark 11 can also be displayed. Furthermore, a two- or three-dimensional view of the position data map with the current position of the tool 2 can be displayed, for example, via the terminal and/or control output device 6 . In the present exemplary embodiment, the reference station 7 has a display unit 704d, a transmission and reception module 706d and an accumulator 707d.

Reference is now additionally made to FIG.

Shown is the GNSS reference station 7, which is arranged on a tripod 12 in the present exemplary embodiment.

If absolute position data is required, the reference station 7 should be positioned at a point with a known geostationary position and a clear field of view to the satellites 701 . If only relative position data is required, any location that offers a clear field of view of satellites 701 of the GNSS system is suitable. Depending on the network availability and transmission quality of the radio connection types, the situation and position determination assembly 4 automatically connects to the reference station 7, for example via a mobile network (LTE, 3G, 5G, EDGE, ...) or using the display device 5 as a relay station, e.g. via long-distance radio. WLAN, Bluetooth, 868MHz, LoRa, UWB radio or mobile radio standards can be used as transmission standards.

Reference is now also made to FIG. 6 in order to explain further details of attitude and position determination unit 8 .

In the present exemplary embodiment, the location and position determination unit 8 has an optional display 16 with, for example, LEDs as illuminants 15, which are connected to the other components of the location and position determination assembly 4 via a line connection (display connector 17) in order to transmit data and operating energy is. Furthermore, the location and position determination unit 8 in the present exemplary embodiment has keys 18, 19, 20 or other switching elements for configuration of the location and position determination assembly 4.

It is also shown that location and position determination unit 8 has a GNSS antenna 13 with a GNSS antenna center 14 .

The location and position determination subassembly 4 can be started up automatically, for example, without actuating a switch or button, simply by removing it from a transport container or using the button 18, for example. After removal, e.g. the attitude and position determination unit 8 wirelessly connects itself to the appropriate GNSS reference station 7 or to a GNSS correction data network service.

The location and position determination unit 8 is designed to determine a position data set PDS indicative of the position of the location and position determination assembly 4 with the GNSS module 702 after it has been attached to the tool 2 .

Furthermore, the location and position determination unit 8 is designed to determine a location data set LDS indicative of the spatial position of the location and position determination assembly 4 with the position sensor assembly 703 .

Furthermore, the location and position determination unit 8 is designed to evaluate the position data set PDS and the position data set LDS in the present exemplary embodiment using the first calibration data set KDS and the second calibration data set KDS' in order to generate an output data set To determine ADS indicative of the spatial location and position of the tool 2, and to output the output data record ADS.

For example, a point at a desired height can be approached with reference mark 11 of tool 2 and by pressing button 19 be transferred to a configuration. Since the position and the height h between the reference mark 11 and, for example, the GNSS receiving antenna 13 are known from the calibration data set KDS, the position and spatial position of the reference mark 11 can now be determined based on the position and spatial position of the position and position determination unit 8 will.

In the present exemplary embodiment, the first calibration data record KDS and the second calibration data record KDS′ are determined at least once after the attitude and position determination unit 8 has been attached to the tool 2, as will be explained in detail later.

Reference is now additionally made to FIGS. 7 and 8. FIG.

A scenario is shown in FIG. 7 in which the tool 2 is aligned in the perpendicular L. It can also be seen that the location and position determination unit 8 in this position and spatial position has an angular offset with an angle value a relative to the spatial position B of the position and position determination unit 8 . The angular value measured by the position sensor assembly 703 is that of the angle d with respect to the perpendicular L. In this position, the respective angular values of the angles a and d are equal. By taking angle a into account, the angular offset can be compensated.

The angle d can also be interpreted as a rod axis error or rod axis error, i.e. as a deviation from the perpendicular L, while the angle a can be interpreted as a tilting axis error in relation to the spatial position B of the location and position determination unit 8 .

In contrast, FIG. 8 shows a scenario in which the tool 2 has a further angular offset with the angular value d as a result of a rotation. The tool 2 was thus brought out of line L by rotating it around the y-axis. The angle a of the angular offset, on the other hand, has not changed and the angular offset can be calculated with it. In order to be able to deduce the current position in space and position of the reference mark 11, the angle a of the angular offset and a value for the distance R from the attitude and position determination unit 8 to the reference mark 11 are required.

The first calibration data record KDS can contain at least one angle value a, indicative of the angular offset, and a distance R, indicative of a distance from the attitude and position determination unit 8 to the reference mark 11, both of which can be interpreted as offset variables. in order to be able to infer the spatial location and position of the reference mark 11 from the location and position of the location and position determination unit 8 .

In other words, a coordinate transformation or a base change is carried out with the first calibration data set KDS, so that the spatial location and position of the location and position determination unit 8 can be used to determine the spatial location and position of the reference mark 11 .

With the height value IIGNSS according to the GNSS module 702, the height hRef of the reference mark 11 can then be determined as follows: h-Ref ⁼ h-GNss - h

The height value h can be determined in e.g. a two-dimensional coordinate system as follows: h = R cos ( ß ) with ß = d - a

The angle value d designates the current spatial position of the location and position determination unit 8, based on the perpendicular L and a perpendicular S through the position sensor assembly 703 of the location and position determination unit 8. The angle value ß designates the spatial position of the position corrected by the offset angle a Orientation and position determination unit 8, based on the perpendicular L and a perpendicular S through the position sensor assembly 703 of the position and Position determination unit 8. In the scenario shown in Figure 7, the angle value ß = d - a = 0, in the scenario shown in Figure 8 ß F 0.

With the display device 5 and/or the terminal and/or control output device 6, the fleas h or a deviation therefrom can then be displayed based on the output data set ADS. The advantage here is that the display device 5 is in the field of view of the machine operator at the same time as the tool 2 due to its arrangement on the boom 3 .

A first exemplary embodiment of a manual calibration method for determining the first calibration data set KDS will now be explained with reference to FIG.

After the reference mark 11 of the tool 2 has been aligned by tilting the tool 2 around the y-axis in such a way that the reference mark 11 is in the plumb L with the attitude and position determination unit 8, a meter rule or a similar measuring device with a Accuracy of e.g. 0.5 cm, the distance R between the location and position determination unit 8 and the reference mark 11 is determined manually.

The attitude and position determination unit 8 is designed to read in this value after it has been entered manually via, for example, an HMI of the attitude and position determination assembly 4 .

Furthermore, the location and position determination unit 8 is designed to determine a vertical deviation LAB of the location and position determination unit 8 with the position sensor assembly 703, i.e., for example, the angular value a for the angular offset.

For example, the location and position determination unit 8 of the location and position determination assembly 4 then generates the calibration data set KDS from the distance R and the angle value a. Deviating from the present exemplary embodiment, the first calibration data set KDS can be determined in the display device 5 of the location and position determination assembly 4 .

A second exemplary embodiment of a combined manual/automatic or also semi-automatic calibration method for determining the first calibration data record KDS will now be explained with reference to FIG.

The calibration method according to the present second exemplary embodiment is based on the calibration method described with reference to FIG. 7 and allows the accuracy to be increased.

For this purpose, the attitude and position determination unit 8 is designed to bring about an alignment of the tool 2 such that the tool 2 assumes a predetermined position, in the present exemplary embodiment a position with maximum inclination in relation to the y-axis. For this purpose, the cantilever 3 can be controlled, for example, manually or by means of a control data set. In the process, the tool 2 is displaced or aligned about the y-axis in such a way that the reference mark 11 remains at the same position I. During this alignment process, the GNSS module 702 acquires position data PD. This can be done continuously, ie at intervals with a predetermined period of time, or discretely at predetermined positions.

Difference data DD can now be determined by a comparison with positions that are determined using the first calibration data record KDS.

The difference data DD are determined by comparing an ideal circle or circle section, defined by the previously manually determined distance R and the previously determined angle value a, with the position data PD. The location and position determination unit 8 then supplements the first calibration data set KDS with appropriate correction data.

The calibration data set KDS then contains the difference data DD, which assign a correction value to an angle value and can be applied to a current value.

Deviating from the present exemplary embodiment, the first calibration data set KDS can be determined in the display device 5 of the location and position determination assembly 4 .

A further, third exemplary embodiment of an automatic calibration method for determining the first calibration data set KDS will now be explained with reference to FIG.

The tool 2 is shifted, e.g. manually or by means of a control data set, in such a way that the reference mark 11 remains in the same, predetermined position I, with position data PD being transmitted to the GNSS module 702 of the attitude and position determination assembly 4 during the alignment he be caught.

The position data PD recorded in this way are indicative of a target curve along which the tool 2 is displaced or aligned.

For the evaluation, it can be provided that a target curve is approximated by a circle SK or a section of a circle, taking into account at least three measuring points MP1, MP2, ... MPx according to the position data PD, e.g. by least square fit or taubin fit, to the radius of the to determine an approximated circle SK or segment of a circle that is representative of the distance R.

There is then an angle g between a straight line G, which connects the center of the specific circle SK and the first measuring point MP1, and a Horizon HO, definitely. Furthermore, the angular value of the angle d is determined. The distance e is the distance from the center of the specific circle SK to the position of the location and position determination unit 8 in relation to the horizon HO: e = R cos (7)

The angular value of the angle a then results in: oc = 7 - d

The distance R from the location and position determination unit 8 to the reference mark 11 is equal to the radius R of the circle SK.

A further, fourth exemplary embodiment of a likewise automatic calibration method for determining the first calibration data set KDS will now be explained with reference to FIG.

According to this exemplary embodiment, only two measurement points MP1, MP2 are approached and evaluated by pivoting the tool 2 about the y-axis.

For the purpose of evaluation, a target curve is also determined here by a circle SK or a section of a circle, taking into account the two measurement points MP1, MP2.

Measured values MW are recorded at both measuring points MP1, MP2. The measured values MW have position data PD indicative of the position of the attitude and position determination unit 8 and position data LD indicative of the position in space the situation and position determination unit 8 on. The position data PD are determined with the GNSS module 702 of the position and position determination unit 8 , while the position data LD are determined with the position sensor assembly 703 of the position and position determination unit 8 . The position data PD can be a three-dimensional data set.

Values for the angle e and a chord d can then be determined with the help of the determined circle SK. The value for the angle e is a measure of the circular arc section of the specific circle SK between the two measuring points MP1, MP2, while the chord d connects the two measuring points MP1, MP2. Furthermore, the radius of the specific circle SK corresponding to the distance R and the angular value of the angle α can be determined.

In addition, the position at which the location and position determination unit 8 with its GNSS antenna center 14 is theoretically located with the reference mark 11 in the perpendicular L can be determined from the measured values MW. At this position, a positional deviation of the location and position determination unit 8 relative to the perpendicular L can be determined. For this, no data need be available in which the location and position determination unit 8 with its GNSS antenna center 14 and the reference mark 11 are actually in the perpendicular L. The determined positional deviation from the perpendicular L and the distance R can be added to the calibration data record KDS.

After the end of, for example, tillage according to plan specifications, the location and position determination assembly 4 can be separated from the tool 2 by simply dismantling animals and placed back in the transport container, in which case it is then automatically deactivated. A detection of a Taking or putting back the location and position determination building group 4 in its transport container can be done, for example, by a loading device integrated in the transport container.

The first calibration data record KDS can be associated with the tool 2 and a position of the attitude and position determination unit 8 on the tool 2 and stored, so that the calibration process only has to be carried out once for this tool 2 and this position. The first calibration data set KDS can be used together with data that allow the tool 2 to be identified and with data indicative of the position on the tool 2, e.g. in the location and position determination assembly 4 and/or the end device and/or control output device 6 are saved and from there the configuration can later be made according to the calibration data set KDS who the.

A method for calibration, in particular for manual calibration, according to the first exemplary embodiment will now be explained with reference to FIG.

In a first step S100a, the location and position determination unit 8 of the location and position determination assembly 4 is attached to the tool 2 .

In a further step S200a, the reference mark 11 of the tool 2 is aligned by tilting the tool 2 in such a way that the reference mark 11 is perpendicular to the location and position determination unit 8 .

In a further step S300a, the distance R between the location and position determination unit 8 and the reference mark 11 is determined manually.

In a further step S400a, the manually determined distance R is read in by the attitude and position determination unit 8 . In a further step S500a, the vertical deviation LAB of the location and position determination unit 8 is determined using the position sensor assembly 703.

In a further step S600a, the first calibration data set KDS is determined by evaluating the vertical deviation LAB and the distance R.

A further method according to the second exemplary embodiment for increasing the accuracy of the calibration from the first exemplary embodiment, in particular for combined manual/automatic calibration, according to the second exemplary embodiment will now be explained with reference to FIG.

After steps S100a to S600a have been carried out according to the first exemplary embodiment, the tool 2 is aligned in a further step S700a such that the tool 2 assumes a predetermined position I, in particular with maximum inclination, and the reference mark 11 at the same , Predetermined position I remains during alignment. Position data PD are now recorded with the GNSS module 702 during the alignment of the tool 2 .

In a further step S800a, the difference data DD are determined by evaluating the first calibration data set KDS determined in step S600a and the position data PD determined in step S700a.

In a further step S900a, the first calibration data set KDS is supplemented by evaluating the difference data DD.

A method for calibrating, in particular for automatic calibrating, according to the third exemplary embodiment will now be explained with reference to FIG. In a first step S100b, the location and position determination unit 8 of the location and position determination assembly 4 is attached to the tool 2 .

In a further step S200b, a predetermined geostationary point for the tool 2 is approached. The first measured value MW at the first measuring point MP1 includes position data PD indicative of the position of the orientation and position determination unit 8 and position data LD indicative of the position in space of the orientation and position determination unit 8.

In a further step S300b, the tool 2 is displaced again in such a way that an inclination of the tool 2 is changed, with the reference mark 11 remaining at an identical, predetermined position I, however.

In a further step S400b, at least one further measured value MW is recorded at a further measuring point MP2, which contains further position data PD indicative of the position of the attitude and position determination unit 8.

In this case, steps S300b and S400b can be repeated at least once in order to determine at least two further measured values MW at further measuring points MP2, . . . MPx and thus to increase the accuracy. The repetition of steps S300b and S400b may be performed either continuously while the tool 2 is being displaced or at predetermined points.

In a further step S500b, the measured values MW are evaluated in order to determine the vertical deviation LAB of the location and position determination unit 8 and/or the distance R between the location and position determination unit 8 and the reference mark 11.

In a further step S600b, the first calibration data set KDS is determined by evaluating the vertical deviation LAB and/or the distance R. A method for calibration, in particular for automatic calibration, according to the fourth exemplary embodiment will now be explained with reference to FIG.

In a first step 100c, the location and position determination unit 8 of the location and position determination assembly 4 is fastened to the tool 2 be.

In a further step 200c, the tool 2 is shifted in order to approach a predetermined geostationary point for the tool 2. The first measured value MW is then recorded at the first measuring point MP1. The first measured value MW has the position data PD indicative of the position of the attitude and position determination unit 8 , which is recorded with the GNSS module 702 of the attitude and position determination unit 8 . Furthermore, the first measured value MW has the location data LD indicative of the spatial location of the location and position determination unit 8 , which is recorded with the location sensor assembly 703 of the location and position determination unit 8 .

In a further step S300c, the tool 2 is displaced in such a way that an inclination of the tool 2 is changed, with the reference mark 11 of the tool 2 remaining at the same, predetermined position I.

In a further step S400c, the second measured value MW is recorded at the second measuring point MP2. The second measured value MW has the further position data PD indicative of the position of the location and position determination unit 8 , which is recorded with the GNSS module 702 of the location and position determination unit 8 . Furthermore, the second measured value MW has the further location data LD indicative of the spatial position of the location and position determination unit 8 , which is detected with the location sensor assembly 703 of the location and position determination unit 8 . In a further step S500c, the measured values MW are evaluated in order to determine the vertical deviation LAB of the location and position determination unit 8 and/or the distance R between the location and position determination unit 8 and the reference mark 11.

In a further step S600c, the calibration data set KDS is determined by evaluating the vertical deviation LAB and/or the distance R.

In all of the calibration methods described, it can be provided that individual measuring points MP1, MP2, .

Furthermore, in all of the calibration methods described, it can be provided that the first calibration data set KDS is assigned to the tool 2 and the position of the location and position determination unit 8 or a component of the location and position determination unit 8 on the tool 2 and stored, so that for this tool 2 and this position of the calibration process only has to be carried out once. The first calibration data record KDS together with data from an identification data record ID (see FIG. 18), which allow the tool 2 to be identified, and with position and location data PLD (also see FIG. 18) indicative of the position and location on the tool 2 can be stored, for example, in a component of the situation and position determination module 4 and / or the terminal and / or control output device 6 and loaded from there when restarted to configure a configuration according to the first calibration data set KDS without renewed perform calibration. If, on the other hand, instead of the magnets 9, the frame-shaped holder 10 is used for attachment, the position and location data PLD can be dispensed with, since the frame-shaped holder 10 defines the position and position in space of the location and position determination unit 8. It can also be provided that the tool 2 and, for example, a component of the location and position determination assembly 4 form a unit that is not separated from one another and to which the identification data set ID is assigned. In this way, the tool 2 can be changed in the meantime without a renewed calibration being necessary.

A fifth exemplary embodiment of a calibration method for determining the second calibration data set KDS' will now be explained with reference to FIGS -Lines BG of a Cartesian coordinate system is possible.

In the present exemplary embodiment, the system 21 for determining the second calibration data record KDS' is designed to generate a first alignment data record ARS 1 (see FIG. 16) indicative of the position of the attitude and position determination unit 8 on the tool 2 with the GNSS To determine module 702 of location and position determination unit 8 at first measuring point MP1'.

Furthermore, the system 21 for determining the second calibration data set KDS′ is designed in the present exemplary embodiment to bring about a shifting of the reference mark 11 of the tool 2 from the first measuring point MP1′ to the second measuring point MP2′ by shifting the cantilever 3 in such a way that a distance A between the land vehicle 1 and the reference mark 11 is changed.

For this purpose, in the present exemplary embodiment, the boom 3 is controlled in such a way that the tool 2 is moved essentially parallel to the reference mark 11 over the ground. However, the boom 3 does not rotate about the vertical axis of the land vehicle 1 . In other words, the displacement takes place in a straight line and without any rotational components, in particular around the vertical axis of the land vehicle 1 . Furthermore, the system 21 for determining the second calibration data set KDS' in the present exemplary embodiment is designed to use the second alignment data set ARS2 (also see Figure 16) indicative of the position of the attitude and position determination unit 8 on the tool 2 to be determined with the GNSS module 702 of the attitude and position determination unit 8 at the second measurement point MP2'.

Finally, in the present exemplary embodiment, the system 21 for determining the second calibration data record KDS' is designed to generate the calibration data record KDS' by evaluating the first alignment data record ARS1 and the second alignment data record ARS2.

The first alignment data set ARS1 and the second alignment data set ARS2 each contain data indicative of the positions of the reference mark 11 at the first measuring point MP1' and the second measuring point MP2'. In a first partial step, parameters of a linear equation are then determined which connect the positions according to the first measuring point MP1' and according to the second measuring point MP2'.

In a second sub-step, the straight line G parameterized in this way is then generated and in a third sub-step, data from the GNSS module 702 are then indicative of the position of the north pole N or the position of longitude lines LG and latitude lines BG of a Cartesian Coordinate system used to determine an offset angle W, which is representative of an offset between the orientation of the land vehicle 1 or the land vehicle's own coordinate system and the position of the north pole N or the position of longitude lines LG and latitude lines BG of the Cartesian coordinate system.

With additional reference to FIG. 17, a method for calibrating, in particular for calibrating with respect to the north pole N or the position of longitude lines LG and latitude lines BG of a Cartesian coordinate system, according to the fifth embodiment, explained.

In a first step S100d, the location and position determination unit 8 of the location and position determination assembly 4 is attached to the tool 2 .

In a further step S200d, the first alignment data set ARS1 is indicative of the position of the location and position determination unit 8 on the tool 2 with the GNSS module 702 location and position determination unit 8 at the first measurement point MP1'.

In a further step S300d, the reference mark 11 of the tool 2 is shifted from the first measuring point MP1' to the second measuring point MP2' by moving the boom 3 in such a way that the distance A between the land vehicle 1 and the reference mark 11 is changed.

In a further step S400d, the second alignment data record ARS2 is determined indicative of the position of the location and position determination unit 8 on the tool 2 with the GNSS module 702 of the location and position determination unit 8 at the second measurement point MP2'.

In a further step S500d, the calibration data record KDS' is generated by evaluating the first alignment data record ARS1 and the second alignment data record ARS2.

This calibration method according to the fifth exemplary embodiment can be repeated within fixed, predetermined or variable intervals during operation of the land vehicle 1 . In this way, a slow drift of values can be counteracted by continually updating the determination of the offset angle W. A method for determining the position and position in space of the tool 2 will now be explained with reference to FIG.

The method for determining the position and spatial orientation of the tool 2 can be carried out after a calibration with steps S100a to S600a according to the first embodiment, after a calibration with steps S100a to S900a according to the second embodiment, after a calibration with steps S100b to S600b according to third exemplary embodiment or after a calibration with steps S100c to S600c according to the fourth exemplary embodiment.

Furthermore, the method for determining the position and spatial orientation of the tool 2 can be combined with a calibration with steps S100d to S500d according to the fifth exemplary embodiment.

Furthermore, the method for determining the position and spatial orientation of the tool 2 according to the first, second, third or fourth exemplary embodiment can be combined with a calibration with steps S100d to S500d according to the fifth exemplary embodiment.

In a first step S1100, a position data set PDS indicative of the position of the attitude and position determination unit 8 of the attitude and position determination assembly 4 is determined with the GNSS module 702 of the attitude and position determination unit 8 .

In a further step S1200, a position data set LDS indicative of the position in space of the position and position determination unit 8 with the position sensor assembly 703 of the position and position determination unit 8 is determined.

In addition, data from the inertial navigation system can be used to combine the GNSS module 702 with the inertial navigation system to track the short-term accurate but drifting inertial system with the to merge long-term stable but short-term variable fluctuating data of the GNSS module 702.

In a further step S1300, in the present exemplary embodiment, the position data set PDS and the position data set LDS are evaluated using the first calibration data set KDS and the second calibration data set KDS' in order to generate an output data set ADS indicative of the spatial position and To determine the position of the tool 2.

In a further step S1400, the output data record ADS is output.

It can be provided that, for example, the end device and/or control output device 6 of the location and position determination assembly 4 is designed to generate a control data set SDS for controlling the land vehicle 1 on the basis of the output data set ADS, e.g. for controlling the Outrigger 3 of the land vehicle 1 designed as an excavator, in order to effect direct intervention in the machine control system of the land vehicle 1 .

In a further step S1500, e.g. after completion of e.g. It is possible, for example, for a loading device integrated in the transport container to detect that the location and position determination assembly 4 has been put back into its transport container.

Deviating from the present exemplary embodiment, the order of the steps can also be different. Furthermore, several steps can also be executed at the same time or simultaneously. Furthermore, in deviation from the present exemplary embodiment, individual steps can also be skipped or left out. If necessary, a land vehicle 1 , such as a construction machine, can be retrofitted accordingly quickly. In this case, the free choice of the position of the location and position determination subassembly 4 or a component of the location and position determination subassembly 4 and subsequent calibration with the first calibration data set KDS and/or the second calibration data set KDS' assembly is simplified and there is no need for complex factory calibration of a specially trained construction machine.

Reference List

1 land vehicle

2 tool

3 outriggers

4 attitude and position determination assembly

5 display device

6 terminal and/or control output device

7 reference station

8 attitude and position determination unit

9 magnets

10 bracket

11 reference mark

12 tripod

13 GNSS antenna

14 GNSS antenna center

15 bulbs

16 display

17 display connector

18 button

19 button

20 button

21 systems

701 satellite

702 GNSS module

703 position sensor assembly

704a display unit

704b display unit

704c display unit

704d display unit

705 input device

706a transmit and receive module 706b transmit and receive module

706c transmit and receive module

706d transmit and receive module

707a accumulator

707b accumulator

707d accumulator

A distance

ADS output data set

ARS1 Alignment Record

ARS2 alignment record

B spatial position

BG line of latitude d chord e distance

DD difference data

G Line h Height hGNSS height value hRef Reference mark height

HO horizon

I position

ID identification record

KDS calibration data set

KDS' calibration data set

L Lot

LAB plumb deviation

LDS location record

LG longitude line

MP1 measuring point

MPr measuring point

MP2 measuring point

MP2' measuring point MPx measuring point

MW readings

N north pole

PD position data

PDS position record

PLD position and attitude data

R distance

S perpendicular through the sensor assembly

SDS tax record

SK circle

T tangent w offset angle a angle ß angle

Y angle d angle e angle

S100a step

S100b step

S100c step

S100d step

S200a step

S200b step

S200c step

S200d step

S300a step

S300b step

S300c step

S300d step

S400a step

S400b step S400c step

S400d step

S500a step

S500b step S500c step

S500d step

S600a step

S600b step

S600c step S700a step

S800a step

S900a step

S1100 step

S1200 step S1300 step

S1400 step

S1500 step

S1600 step

Claims

patent claims

1. A method for determining the position and spatial location of a tool (2) for tilling the soil on an adjustable arm (3) of a land vehicle (1), with the steps:

(S1100) determining a position data set (PDS) indicative of the position of a position and position determination unit (8) of a position and position determination assembly (4) on the tool (2) with a GNSS module (702) of the position - and position determination unit (8),

(S1200) determining a position data set (LDS) indicative of the position in space of the position and position determination unit (8) with a position sensor assembly (703) of the position and position determination unit (8),

(S1300) Evaluation of the position data set (PDS) and the position data set (LDS) using a calibration data set (KDS, KDS') in order to generate an output data set (ADS) indicative of the spatial position and position of the tool (2nd ) to determine, and

(S1400) Output of output data set (ADS).

2. The method according to claim 1, wherein the following steps are carried out to determine the calibration data set (KDS):

(S100a) attaching the location and position determination unit (8) to the tool (2),

(S200a) aligning a reference mark (11) of the tool (2) by tilting the tool (2) in such a way that the reference mark (11) is perpendicular (L) to the location and position determination unit (8), (S300a) determining a distance (R) between the orientation and position determining unit (8) and the reference mark (11),

(S400a) reading in the distance (R) from the attitude and position determination unit (8),

(S500a) determining a vertical deviation (LAB) of the location and position determination unit (8) with the location sensor assembly (703) of the location and position determination unit (8), and

(S600a) Generation of the calibration data set (KDS) by evaluating the vertical deviation (LAB) and the distance (R).

3. The method according to claim 2, wherein the following steps are carried out in addition to determining the calibration data record (KDS):

(S700a) Alignment of the tool (2) such that the tool (2) assumes a predetermined position (I) with a predetermined inclination, in particular with a maximum inclination, and the reference mark (11) at the same predetermined position (I) remains during the alignment, with position data (PD) being recorded with the GNSS module (702) of the attitude and position determination unit (8) during the alignment,

(S800a) determining difference data (DD) by evaluating the calibration data set (KDS) determined in step (S600a) and the position data (PD) determined in step (S700a), and

(S900a) Supplementing the calibration data set (KDS) by evaluating the difference data (DD).

4. The method according to claim 1, wherein the following steps are carried out to determine the calibration data set (KDS):

(S100b) attaching the attitude and position determination unit (8) to the tool (2),

(S200b) relocating the tool (2) to approach a predetermined geo-stationary point for the tool (2) and acquiring a first measurement value (MW) at a first measurement point (MP1), with position data (PD) indicative of the position the location and position determination unit (8) with the GNSS module (702) of the location and position determination unit (8), and with location data (LD) indicative of the position in space of the location and position determination unit (8) with the location sensor assembly ( 703) the location and position determination unit (8),

(S300b) Displacing the tool (2) in such a way that an inclination of the tool (2) is changed, with a reference mark (11) of the tool (2) remaining at the same, predetermined position (I),

(S400b) Acquisition of at least two further measured values (MW) at at least two further measuring points (MP2, ... MPx), with further position data (PD) indicative of the position of the attitude and position determination unit (8) with the GNSS module (702) the location and position determination unit (8) by carrying out steps (S300b) and (S400b) at least twice,

(S500b) evaluating the measured values (MW) in order to determine a plumb deviation (LAB) of the location and position determination unit (8) and/or a distance (R) between the location and position determination unit (8) and the reference mark (11), and (S600b) Generation of the calibration data set (KDS) by evaluating the vertical deviation (LAB) and/or the distance (R).

5. The method according to claim 1, wherein the following steps are carried out to determine the calibration data set (KDS):

(S100c) attaching the attitude and position determination unit (8) to the tool (2),

(S200c) relocating the tool (2) to approach a predetermined geo-stationary point for the tool (2) and acquiring a first measurement value (MW) at a first measurement point (MP1), with position data (PD) indicative of the position the location and position determination unit (8) with the GNSS module (702) of the location and position determination unit (8), and with location data (LD) indicative of the position in space of the location and position determination unit (8) with the location sensor assembly ( 703) the orientation and position determination unit (8),

(S300c) displacing the tool (2) in such a way that an inclination of the tool (2) is changed, with a reference mark (11) of the tool (2) remaining at a same, predetermined position (I),

(S400c) detecting a second measured value (MW) at a second measuring point (MP2), with further position data (PD) indicative of the position of the attitude and position determination unit (8) with the GNSS module (702) of the attitude and Position determination unit (8), and with further position data (LD) indicative of the spatial location of the position and position determination unit (8) with the position sensor assembly (703) of the position and position determination unit (8),

(S500c) Evaluation of the measured values (MW) to determine a vertical deviation (LAB) of the situation and position determination unit (8) and/or a to determine the distance (R) between the attitude and position determination unit (8) and the reference mark (11), and

(S600c) Generation of the calibration data set (KDS) by evaluating the vertical deviation (LAB) and/or the distance (R).

6. The method according to any one of claims 1 to 5, wherein the following steps are carried out to determine the calibration data set (KDS'):

(S100d) attaching the attitude and position determination unit (8) to the tool (2),

(S200d) determining a first orientation data set (ARS1) indicative of the position of the location and position determination unit (8) on the tool (2) with the GNSS module (702) of the location and position determination unit (8) on one first measuring point (MP1'),

(S300d) relocating, in particular moving in a straight line, a reference mark (11) of the tool (2) from the first measuring point (MP1') to a second measuring point (MP2') by moving, in particular moving in a straight line, the boom (3), such that a distance (A) between the land vehicle (1) and the reference mark (11) is changed,

(S400d) determining a second alignment data set (ARS2) indicative of the position of the location and position determination unit (8) on the tool (2) with the GNSS module (702) of the location and position determination unit (8) on the second measuring point (MP2'), and

(S500d) Generation of the calibration data record (KDS') by evaluating the first alignment data record (ARS1) and the second alignment data record (ARS2).

7. The method according to any one of claims 1 to 6, wherein an inertial navigation system of the orientation and position determination unit (8) provides additional Lich data for the position data set (LDS).

8. Computer program product, designed to execute a method according to any one of claims 1 to 7.

9. System (21) for determining the position and position in space of a tool (2) for tillage on an adjustable arm (3) of a land vehicle (1), wherein a position and position determination unit (8) of a position and position determination assembly ( 4) the system (21) on the tool (2) is designed to determine a position data set (PDS) indicative of the position of the location and position determination unit (8) with a GNSS module (702), one Position data set (LDS) indicative of the position in space of the attitude and position determination unit (8) with a position sensor assembly (703) to determine the position data set (PDS) and the position data set (LDS) using a calibration data set ( Evaluate KDS, KDS') in order to determine an initial data set (ADS) indicative of the spatial orientation and position of the tool (2), and output the initial data set (ADS).

10. System (21) according to claim 9, wherein the location and position determination unit (8) can be fastened to the tool (2), the system (21) for determining the calibration data set (KDS) being designed for this purpose after aligning a reference mark (11) of the tool (2) by tilting the tool (2) in such a way that the reference mark (11) is perpendicular to the location and position determination unit (8), a distance (R ) between the attitude and position determination unit (8) and the reference mark (11), to read in the distance (R) from the attitude and position determination unit (8), to determine a vertical deviation (LAB) of the attitude and position determination unit (8 ) with the position sensor assembly (703) of the position and To determine the position determination unit (8) and to generate the calibration data record (KDS) by evaluating the vertical deviation (LAB) and the distance (R).

11. System (21) according to claim 10, wherein the system (21) for determining the calibration data set (KDS) is additionally designed to cause an alignment of the tool (2) such that the tool (2) has a predetermined Position (I) with a predetermined inclination, in particular with a maximum inclination, and the reference mark (11) during the alignment of the tool (2) at the same surfaces, predetermined position (I) remains, the system (21) is designed to acquire position data (PD) with the GNSS module (702) of the location and position determination unit (8) during alignment, differential data (DD) by evaluating the specific calibration data set (KDS) and the specific position data ( PD) and to supplement the calibration data set (KDS) by evaluating the differential data (DD).

12. System (21) according to claim 9, wherein the location and position determination unit (8) can be fastened to the tool (2), the system (21) for determining the calibration data set (KDS) being designed for this purpose to cause the tool (2) to be displaced in order to approach a predetermined geostationary point for the tool (2), and to record at least one first measured value (MW) at a first measuring point (MP1), the first measured value (MW) being Positionsda ten (PD) indicative of the position of the attitude and position determination unit (8), which are detected with the GNSS module (702) of the attitude and position determination unit (8), and wherein the first measured value (MW) position data ( LD) would be indicative of the spatial location and position determination unit (8), with the location sensor assembly (703) of the location and position determination unit (8) he recorded, the system (21) for moving the tool (2) is designed such that an inclination of the tool (2) is changed ver, with a reference mark (11) of the tool (2) at ei same, predetermined position (I) remains, the system (21) for detecting at least two further measured values (MW) at at least two further measuring points (MP2, ... MPx), the further measured values (MW) at the at least two further measuring points (MP2, ... MPx) each having further position data ( PD) indicative of the position of the location and position determination unit (8), which are detected with the GNSS module (702) of the location and position determination unit (8), the system (21) for evaluating the measured values ( MW) is designed to determine a vertical deviation (LAB) of the location and position determination unit (8) and/or a distance (R) between the location and position determination unit (8) and the reference mark (11), and wherein the system ( 21) is designed to the calibration data set (KDS) throughc h Evaluation of the perpendicular deviation (LAB) and/or the distance (R).

13. System (21) according to claim 9, wherein the location and position determination unit (8) can be fastened to the tool (2), the system (21) for determining the calibration data set (KDS) being designed for this purpose to effect a displacement of the tool (2) in order to approach a predetermined geostationary point for the tool (2), for detecting a first measured value (MW) at a first measuring point (MP1) with position data (PD) indicative of the position of the Orientation and position determination unit (8), the position data (PD) being recorded with the GNSS module (702) of the orientation and position determination unit (8), and the first measured value (MW) at the first measuring point (MP1) being position data (LD) indicative of the position in space of the location and position determination unit (8), which is detected with the position sensor assembly (703) of the location and position determination unit (8), for displacing the tool (2) in such a way that an inclination of the tool (2) is changed, whereby an R reference mark (11) of the tool (2) at the same, predetermined position (I) remains, for detecting a second measured value (MW) at a second measuring point (MP2) with further position data (PD) indicative of the position of the attitude and position determination unit (8), which with the GNSS module (702) of the attitude and Position determining unit (8) are recorded, and wherein the second measured value (MW) at the second measuring point (MP2) has further position data (LD) indicative of the spatial position of the position and position determination unit (8), which is connected to the position sensor assembly (703) location and position determination unit (8), the system (21) being designed to evaluate the measured values (MW) in order to determine a vertical deviation (LAB) of the location and position determination unit (8) and/or a distance (R) between the location and position determination unit (8) and the reference mark (11) to be determined, and the system (21) is designed to the calibration data set (KDS) by evaluating the deviation Lotab (LAB) and / or the generate distance (R).

14. System (21) according to one of claims 9 to 13, wherein the location and position determination unit (8) can be attached to the tool (2), the system (21) for determining the calibration data set (KDS') being designed for this purpose is, a first alignment data set (ARS1) indicative of the position of the location and position determination unit (8) on the tool (2) with the GNSS module (702) of the location and position determination unit (8) at a first measurement point ( MP1') to determine a displacement, in particular linear displacement, of a reference mark (11) of the tool (2) from the first measuring point (MP1') to a second measuring point (MP2') by displacement, in particular linear displacement, of the boom (3) to cause a second alignment data set (ARS2) indicative of the position of the location and position determination unit (8 ) on the tool (2) with the GNSS module (702) the orientation and position determination unit (8) on the second measuring Point (MP2 ') to determine, and wherein the system (21) is formed out to generate the calibration data set (KDS') by evaluating the first alignment data set (ARS1) and the second alignment data set (ARS2). .

15. System (21) according to any one of claims 9 to 14, wherein the orientation and position determination unit (8) has an inertial navigation system which additionally provides data for the position data set (LDS).

16. attitude and position determination assembly (4) for a system (21) according to any one of claims 9 to 15.

17. location and position determination assembly (4) according to claim 16, wherein the location and position determination assembly (4) gevorrichtung a display (5) and / or a terminal and / or control output device

(6), wherein the display device (5) and/or the terminal and/or control output device (6) are designed as a mobile device.