# US 11,029,704 B2 · Self-propelled construction machine and method for controlling a self-propelled construction machine

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- Number: US 11,029,704 B2
- Document ID: US11029704B2
- Status: Granted
- Kind: B2
- Application number: 16/218,780
- Filed: 2018-12-13
- Published: 2019-07-04
- Granted: 2021-06-08
- Earliest claimed: 2017-12-22
- Assignees: Wirtgen GmbH
- Applicants: Wirtgen GmbH
- Inventors: Matthias Fritz; Stefan Wagner; Cyrus Barimani
- Web page: https://patentgrep.com/patent/US11029704B2

## CPC

- G05D 1/0278: {using satellite positioning signals, e.g. GPS}
- E01C 19/004: {Devices for guiding or controlling the machines along a predetermined path (for graders or bulldozers E02F3/841; for other soil-shifting machines E02F9/2045)}
- E02F 3/188: {with the axis being horizontal and transverse to the direction of travel}
- E02F 9/20: Drives; Control devices (gearings in general F16H; controlling in general G05; electric multi-motor drives H02K, H02P)
- E02F 9/2045: {Guiding machines along a predetermined path (for graders E02F3/841; machines for construction of roads E01C19/004)}
- G01S 19/13: Receivers
- G01S 19/45: by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)}
- G05D 1/0234: {using optical markers or beacons (optical beacons per se G01S1/70)}
- G05D 1/0282: {generated in a local control room}
- E01C 19/4886: {for forming in a continuous operation kerbs, gutters, berms, safety kerbs, median barriers or like structures in situ, e.g. by slip-forming, by extrusion (removable forms for kerbs, gutters or similar structures E01C19/506; making conduits in situ E02D29/10)}
- E01C 19/4893: {Apparatus designed for railless operation}
- E01C 23/088: Rotary tools, e.g. milling drums {(for forming recesses to receive marking materials E01C23/0946)}
- E01C 23/127: {rotary, e.g. rotary hammers}
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- E01C: CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR (forming roads or like surfaces by compacting or grading snow or ice E01H)
- E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00)
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

A construction machine system comprises a self-propelled construction machine and a total station. The construction machine possesses a machine frame, a drive means and a working means for altering the terrain. A position-determination means determines the position of a reference point on the machine in a first coordinate system independent of the machine. The position-determination means receives satellite signals from a global navigation satellite system (GNSS), wherein in normal operation the machine is controlled using the GNSS such that a reference point on the machine moves along a set target travel path. In a total station control mode, the machine is controlled without the GNSS and only using the total station based on a position of the standpoint and orientation of the total station ascertained in the GNSS control mode, and the position-determination of the construction machine occurs in a second coordinate system based on the total station.

## Claims

### Claim 1

A self-propelled construction machine comprising:
a machine frame having working means arranged thereon;
a global navigation satellite system (GNSS) receiver configured to receive satellite signals from a GNSS;
a reflector for optical measurement by means of a total station;
a total station data receiver configured to receive total station data from the total station, and a transmitter configured to transmit data to the total station;
a processor configured to determine GNSS position data describing a position of a reference point on the construction machine in a first coordinate system that is independent of the construction machine, based on the satellite signals;
a controller configured in a GNSS control mode to actuate a drive means based on the described position of the reference point on the construction machine in the first coordinate system, such that the reference point on the construction machine moves along a set target travel path;
the processor configured in the GNSS control mode, to prepare 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, to
calculate a position of a standpoint and an orientation of the total station in the first coordinate system from 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 the reflector at the different positions of the construction machine and are received by the total station data receiver, and
to transmit the calculated position of a standpoint and an orientation of the total station via the transmitter to the total station for calibration thereof;
the processor configured in the total station control mode to receive second total station data from the total station describing the position of the reflector on the construction machine in the first coordinate system from the previously calculated position of the standpoint and the orientation of the total station, and a direction and distance of the reflector measured by the total station in the total station control mode; and
the controller configured in the total station control mode to actuate the drive means based on the position of the reference point on the construction machine determined in the total station control mode, such that the reference point on the construction machine moves along a set target travel path.

### Claim 2 (depends on 1)

The self-propelled construction machine of claim 1, wherein the processor is configured to input into a memory unit the second total station data for determining the position of the standpoint and the orientation of the total station in the first coordinate system, in successive measurements at different points in time during movement of the construction machine, wherein the position of the standpoint and the orientation of the total station is calculated continuously.

### Claim 3 (depends on 1)

The self-propelled construction machine of claim 1, wherein the processor is configured such that the position of the standpoint and the orientation of the total station are calculated based on:
GNSS position data which describe the position of the reference point on the construction machine at a first position adopted by the construction machine in the first coordinate system,
GNSS position data which describe the position of the reference point on the construction machine at a second position adopted by the construction machine in the first coordinate system, and
first total station data describing the direction and distance of the reflector at the first and the second position.

### Claim 4 (depends on 1)

The self-propelled construction machine of claim 1, wherein the processor is configured such that the position of the standpoint and the orientation of the total station are calculated based on:
as measured by the total station, the direction towards the reflector on the construction machine and the distance between the standpoint of the total station and the reflector in a first position adopted by the construction machine in the first coordinate system,
as measured by the total station, the direction towards the reflector on the construction machine and the distance between the standpoint of the total station and the reflector in a second position adopted by the construction machine in the first coordinate system, and
the GNSS position data at the first and second positions.

### Claim 5 (depends on 1)

The self-propelled construction machine of claim 1, wherein the processor is configured such that the position of the standpoint and the orientation of the total station are calculated based on:
as measured by the total station, the direction towards the reflector on the construction machine in a first position adopted by the construction machine in the first coordinate system,
as measured by the total station, the direction towards the reflector on the construction machine in a second position adopted by the construction machine in the first coordinate system,
as measured by the total station, the direction towards the reflector on the construction machine in a third position adopted by the construction machine in the first coordinate system, and
the GNSS position data at the first, the second and the third positions.

### Claim 6 (depends on 1)

The self-propelled construction machine of claim 1, wherein the controller is configured to actuate the drive means such that the distance between a target position described by the target travel path and an actual position of the reference point is minimal.

### Claim 7 (depends on 1)

The self-propelled construction machine of claim 1, wherein the construction machine is a road miller, a recycler, a stabiliser, or a surface miner, the working means comprising a milling/cutting roller fitted with milling or cutting tools.

### Claim 8 (depends on 1)

The self-propelled construction machine of claim 1, wherein the construction machine is a slipform paver, the working means comprising a device for moulding flowable material.

### Claim 9 (depends on 1)

The self-propelled construction machine of claim 1, wherein the construction machine is a road finisher, the working means comprising a screed for shaping material.

### Claim 10 (depends on 1)

The self-propelled construction machine of claim 1, wherein the controller is configured in the GNSS control mode to continually inspect a statistical quality of the satellite signals, and to automatically switch to the total station control mode if the statistical quality of the satellite signals is no longer sufficient.

### Claim 11 (depends on 1)

The self-propelled construction machine of claim 1, wherein the controller is configured to selectively switch between the GNSS control mode and the total station control mode.

### Claim 12

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.

### Claim 13 (depends on 12)

The system of claim 12, wherein the construction machine is a road miller, a recycler, a stabiliser, or a surface miner, the working means comprising a milling/cutting roller fitted with milling or cutting tools.

### Claim 14 (depends on 12)

The system of claim 12, wherein the construction machine is a slipform paver, the working means comprising a device for moulding flowable material.

### Claim 15 (depends on 12)

The system of claim 12, wherein the construction machine is a road finisher, the working means comprising a screed for shaping material.

### Claim 16

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.

### Claim 17 (depends on 16)

The method of claim 16, wherein the second total station data for determining the position of the standpoint and the orientation of the total station in the first coordinate system are stored, during movement of the construction machine, in successive measurements at different points in time, the position of the standpoint and the orientation of the total station being calculated continuously.

### Claim 18 (depends on 16)

The method of claim 16, wherein the position of the standpoint and orientation of the total station are calculated based on:
GNSS position data which describe the position of a reference point on the construction machine at a first position adopted by the construction machine in the first coordinate system,
GNSS position data which describe the position of a reference point on the construction machine at a second position adopted by the construction machine in the first coordinate system, and
the first total station data at the first and second positions.

### Claim 19 (depends on 16)

The method of claim 16, wherein the position of the standpoint and the orientation of the total station are calculated based on:
measured by the total station, a direction towards the reflector on the construction machine and a distance between the standpoint of the total station and the reflector in a first position adopted by the construction machine in the first coordinate system,
measured by the total station, a direction towards the reflector on the construction machine and a distance between the standpoint of the total station and the reflector in a second position adopted by the construction machine in the first coordinate system, and
GNSS position data at the first and second positions.

### Claim 20 (depends on 16)

The method of claim 16, wherein the position of the standpoint and the orientation of the total station are calculated based on:
measured by the total station, a direction towards the reflector on the construction machine in a first position adopted by the construction machine in the first coordinate system,
measured by the total station, a direction towards the reflector on the construction machine in a second position adopted by the construction machine in the first coordinate system,
measured by the total station, a direction towards the reflector on the construction machine in a third position adopted by the construction machine in the first coordinate system, and
the GNSS position data at the first, the second and the third positions.

### Claim 21 (depends on 16)

The method of claim 16, wherein the drive means is actuated in such a way that a distance between the target position described by the target travel path and an actual position of the reference point on the construction machine is minimal.

### Claim 22 (depends on 16)

The method of claim 16, further comprising, in the GNSS control mode:
continually inspecting a statistical quality of the satellite signals, and
automatically switching to the total station control mode if the statistical quality of the satellite signals is no longer sufficient.

### Claim 23 (depends on 16)

The method of claim 16, further comprising:
enabling selective switching between the GNSS control mode and the total station control mode.