Self-propelled construction machine and method for controlling a self-propelled construction machine

A construction machine system comprising:

• a total station;
• and
• a construction machine further comprising:
• a machine frame having a working means arranged thereon,
• drive means for driving the construction machine such that the construction machine moves in a terrain,
• position-determination means for determining, at least during a GNSS control mode,
• a position of a reference point on the construction machine in a first coordinate system that is independent of the construction machine based on global navigation satellite system (GNSS) data, and
• in preparing a total station control mode in which the construction machine is not intended to be controlled based on the GNSS data, a position of a standpoint and an orientation of the total station in the first coordinate system as calculated from the GNSS position data determined at different positions of the construction machine, and from first total station data which describe a direction and/or distance of a reflector at the different positions of the construction machine,
• a transmitter for transmitting the calculated position of the standpoint and the orientation of the total station to the total station for calibration thereof,
• a total station data receiver for receiving second total station data from the total station describing the position of the reflector on the construction machine in the first coordinate system,
• position-determination means for, in the total station control mode, determining the position of the reference point on the construction machine in the first coordinate system from the second total station data, and
• control means for actuating the drive means:
• in the GNSS control mode, based on the position of the reference point determined from the GNSS data, such that the reference point on the construction machine moves along a set target travel path,
• in the total station control mode, based on the position of the reference point determined in the total station control mode, such that the reference point on the construction machine moves along the set target travel path.

A method for controlling a self-propelled construction machine which has a machine frame, a working means arranged on the machine frame and a drive means for driving the construction machine such that the construction machine moves in terrain, the method comprising:

• receiving satellite signals from a global navigation satellite system (GNSS);
• determining GNSS position data which describe a position of a reference point on the construction machine in a first coordinate system that is independent of the construction machine on the basis of the satellite signals from the navigation satellite system,
• in a normal operation, actuating the drive means on the construction machine based on the GNSS position data such that a reference point on the construction machine moves along a set target travel path,
• receiving first total station data which describe a direction and/or distance of a reflector arranged on the construction machine from a total station positioned at a standpoint in the vicinity of the construction machine;
• for preparing a total station control mode in which the construction machine is not intended to be controlled on the basis of the satellite signals from the GNSS, calculating a position of the standpoint and an orientation of the total station in the first coordinate system, when the construction machines moves, from the GNSS position data ascertained at different positions of the construction machine;
• transmitting data comprising the calculated position of the standpoint and the orientation of the total station to the total station for calibration thereof;
• calculating, at the total station, second total station data which describe the position of the reflector in the first coordinate system, based on the transmitted data comprising the calculated position of the standpoint and the orientation of the total station and further based on a measured direction and/or distance of the reflector in the first coordinate system;
• in the total station control mode, receiving via a receiver on the construction machine the calculated second total station data from the total station, and determining the position of the reference point on the construction machine in the first coordinate system from the second total station data;
• and
• in the total station control mode, actuating the drive means based on the determined position of the reference point such that the reference point on the construction machine moves along the set target travel path.