DE102021107197B4 - Method for determining the position and spatial orientation of a tool - Google Patents

Abstract

Method for determining the position and spatial orientation of a tool (2) for soil cultivation on an adjustable boom (3) of a land vehicle (1), comprising 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 spatial position of the position and position determination unit (8) with a position sensor assembly (703) of the position and position determination unit (8),
(S1300) evaluating the position data set (PDS) and the position data set (LDS) using a calibration data set (KDS) to determine an output data set (ADS) indicative of the spatial orientation and position of the tool (2), and
(S1400) Output the output data set (ADS).

Description

The invention relates to a method for determining the position and spatial orientation of a soil cultivation tool on an adjustable boom of a land vehicle. The invention further relates to a computer program product, a system for determining the position and spatial orientation of a soil cultivation tool on an adjustable boom of a land vehicle and an orientation and position determination assembly for such a system.

In this case, position determination is understood to mean the determination of a position of the tool or a section of the tool in relation to a defined fixed point, while spatial orientation determination is understood to mean the determination of the orientation of the tool in relation to the surrounding space, especially with regard to the horizontal or the plumb line.

On construction sites, soil preparation operations are 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, levelling a surface to an absolute height or a height relative to a reference point or excavating three-dimensional soil profiles.

Construction machines such as excavators are used for this purpose. An excavator is a construction machine used to loosen and move soil and rock, in particular for digging and backfilling earth depressions such as excavation pits and shafts.

Such excavators are designed as self-propelled land vehicles and have a structure on the chassis of the excavator that can rotate around its vertical axis and has a boom, to the distal end of which a tool, such as an excavator bucket, is attached. The boom itself has a number of joints and can be moved radially inwards and outwards with them. The movement of the boom and the tool is usually achieved using hydraulics or electric motors.

Depending on the building specifications, soil profiles often have to have an accuracy of a few centimeters. For example, a floor slab for a house requires a flat surface with a maximum deviation of +/- 1.5 cm in relation to the geostationary position and height. The creation of soil profiles with the above accuracy and absolute positioning requires a specially equipped excavator or complex measuring 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 using measuring equipment between earth-working operations. The excavator operator and the other person can work together to provide such a soil profile. A construction site measuring device to support such work is available, for example, from the WO 2014 / 146809 A1 However, this procedure is time-consuming and labor-intensive.

A specially equipped excavator can also be used, usually 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 into the excavator. Such systems are installed ex works. These excavators are equipped with sensors on all moving elements 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 control and partially automate the excavation process.

Such a system is e.g. from the 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 and a built-in control system. However, an external laser source can easily be obscured and must be readjusted if there is a major change in depth. In addition, installation and calibration are complex.

With such a system, the work process can be carried out much more quickly, but specially equipped excavators and machine operators 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 specifically equipped for this purpose can also be used, but 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. Calibration is therefore a time-consuming and technically complex process.

There are also retrofit systems that require fewer pivot points and work, for example, via optical laser reference planes. One such system is, for example, from the EN 3 875 332 T2 to determine the depth to which an excavator should dig a trench. This system works with an external laser source to relate the depth of the trench to a set distance below the plane of the beam generated by the laser. This uses external laser sources that can easily be shaded and must be readjusted for each major change in depth. Furthermore, installation and calibration are complex.

There are also systems that use a combination of the two methods mentioned above and therefore have to be measured and calibrated at great expense. There are also proposed solutions that track the tool from the excavator hull using other technologies, thus avoiding complex sensors and measurements on the boom.

From the US 2019 / 0003825 A1 An integrated sensor unit for machine control is known, which helps a machine operator to find 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 necessary for calibration. A suitable LDM reference must be attached for use.

From the EN 2020 10018131 U1 It is known that transport status information can be detected 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 be distances between the transport device and the transponder. This provides a system which 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. RFID (Radio Frequency Identification) can achieve good distance resolution with a clear line of sight to the transponder, but measuring the angle between the excavator hull and the tool is technically complex and inaccurate.

From the EP 1 029 306 B1 A method for optically detecting the position and spatial orientation of a tool in relation to a machine is known. This method uses markers on the tool to be followed, which have a predetermined relative position to each other. The detection is based on image processing algorithms. For example, the position and spatial orientation of an excavator bucket in relation to the excavator can be determined. One sensor unit is sufficient to track the tool, but depending on the technology, the possible uses and/or resolution are limited. For example, optical methods rely on always having a sufficient view of the tool. Furthermore, this method is sensitive to contamination of the markers or a camera.

From the US 6 665 465 B2 A dozer blade control system is known for a construction machine designed as a grader, in which the position and inclination of a dozer blade is detected and adjusted using an ultrasonic sensor starting from the reference point.

From the US 2016 / 0076228 A1 A guidance system for an excavator is known, on whose boom a laser sensor is arranged, from which US 9 886 038 B2 A GNSS-based system for controlling an agricultural machine is known.

From the EP 2 806 248 A1 A method for calibrating a detection device and a detection device are known.

There is therefore a need to show ways in which the position and spatial orientation determination of a tool can be simplified.

• Bestimmen eines Positions-Datensatzes indikativ für die Position einer Lage- und Positionsbestimmungseinheit einer Lage- und Positionsbestimmungs-Baugruppe an dem Werkzeug mit einem GNSS-Modul der Lage- und Positionsbestimmungseinheit,
• Bestimmen eines Lage-Datensatzes indikativ für die Raumlage der Lage- und Positionsbestimmungseinheit mit einer Lagesensorbaugruppe der Lage- und Positionsbestimmungseinheit,
• Auswerten des Positions-Datensatzes und des Lage-Datensatzes unter Verwendung eines Kalibrier-Datensatzes, um einen Ausgangs-Datensatz indikativ für die Raumlage und Position des Werkzeugs zu bestimmen, und
• Ausgeben des Ausgangs-Datensatzes.

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, comprising the steps:

• Determining a position data set indicative of the position of a position and positioning unit of a position and positioning assembly on the tool with a GNSS module of the position and positioning unit,
• Determining a position data set indicative of the spatial position of the position and position determination unit with a position sensor construction group of the attitude and position determination unit,
• Evaluating the position data set and the attitude data set using a calibration data set to determine an output data set indicative of the spatial orientation and position of the tool, and
• Output the initial data set.

Position data from a GNSS system and attitude data from a position sensor assembly of the attitude and positioning unit of the attitude and positioning assembly are combined to determine the spatial attitude and position of the tool.

The position sensor assembly can be designed as an acceleration sensor assembly with at least two measuring axes and is designed, for example, to determine the current spatial position by comparing at least two acceleration values that are recorded in the direction of the at least two measuring 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 a position that can essentially be freely selected. An essentially freely selectable position is understood to mean a position that ensures sufficient connection quality to satellites of the GNSS system.

The calibration data set makes it possible to evaluate the position data and the orientation data that are indicative of the spatial orientation and position of the orientation and position determination unit of the orientation and position determination assembly in order to be able to determine the orientation 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 set, so that the spatial position and position of the reference mark can be determined from the spatial position and position of the position and position determination unit of the position and position determination assembly.

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 with which the tool comes into contact with the medium to be machined.

This makes it possible to determine the position and spatial orientation of the tool directly. This eliminates the need to laboriously determine the position and spatial orientation of the tool based on a tool carrier, such as a land vehicle.

This eliminates the need for specially trained construction machines with GNSS systems, for example, and instead a land vehicle, such as a construction machine, can be quickly retrofitted if necessary. The free choice of the position of the attitude and position determination unit of the attitude and position determination assembly and subsequent calibration with the calibration data set simplify assembly and no complex calibrations are required ex works, as is the case with such a specially trained construction machine.

• Befestigen der Lage- und Positionsbestimmungseinheit an dem Werkzeug,
• Ausrichten einer Referenzmarke des Werkzeugs durch Neigen des Werkzeugs, derart, dass sich die Referenzmarke mit der Lage- und Positionsbestimmungseinheit im Lot befindet,
• Bestimmen einer Distanz zwischen der Lage- und Positionsbestimmungseinheit und der Referenzmarke,
• Einlesen der Distanz von der Lage- und Positionsbestimmungseinheit,
• Bestimmen einer Lotabweichung der Lage- und Positionsbestimmungseinheit mit der Lagesensorbaugruppe der Lage- und Positionsbestimmungseinheit, und
• Erzeugen des Kalibrier-Datensatzes durch Auswerten der Lotabweichung und der Distanz.

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

• Attaching the position and position determination unit to the tool,
• Aligning a reference mark of the tool by tilting the tool so that the reference mark is perpendicular to the position determination unit,
• Determining a distance between the position determination unit and the reference mark,
• Reading the distance from the attitude and position determination unit,
• Determining a vertical deviation of the attitude and position determination unit with the position sensor assembly of the attitude and position determination unit, and
• Generate the calibration data set by evaluating the plumb deviation and the distance.

This is a manual procedure in which the distance between the position and position determination unit of the position and position determination assembly and the reference mark is determined, for example, by a machine operator using a meter stick or a similar measuring device with an accuracy of 0.5 cm and then made available to the position and position determination unit via an HMI (human-machine interface). The vertical deviation, on the other hand, is determined automatically, i.e. without intervention by the machine operator. With this procedure, a calibration data set can be determined even if no data is available. of a GNSS system, e.g. when there is no reception.

• Ausrichten des Werkzeugs, derart, dass das Werkzeug eine vorbestimmte Position mit einer vorbestimmten Neigung, insbesondere mit einer maximalen Neigung, annimmt und die Referenzmarke an der gleichen, vorbestimmten Position während des Ausrichtens verbleibt, wobei während des Ausrichtens Positionsdaten mit dem GNSS-Modul der Lage- und Positionsbestimmungseinheit erfasst werden,
• Bestimmen von Differenzdaten durch Auswerten des bestimmten Kalibrier-Datensatzes und den bestimmten Positionsdaten, und
• Ergänzen des Kalibrier-Datensatzes durch Auswerten der Differenzdaten.

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

• Aligning the tool such 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 alignment, wherein position data are recorded with the GNSS module of the attitude and position determination unit during alignment,
• Determining difference data by evaluating the determined calibration data set and the determined position data, and
• Supplementing the calibration data set by evaluating the difference data.

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

However, this requires data from a GNSS system. They are recorded after the reference mark of the tool has been brought into a first, predetermined position in which it is perpendicular to the attitude and position determination unit according to the previous manual method, and the tool is now brought from this first, predetermined position to a further, second predetermined position with a predetermined inclination by changing the inclination of the tool, with the reference mark remaining in the same, predetermined position during alignment.

It can be provided that a machine operator is prompted, for example by an HMI, to align the tool accordingly manually. Alignment can also be carried out automatically using a control data set. The control data set can be a predetermined sequence of control commands with which the tool is brought into the predetermined position without further intervention by a machine operator. The predetermined position can be a position of maximum inclination, where one or more joints of the boom are at their stop and further swiveling is no longer possible. The control data set can be activated automatically during the process.

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

Data based on the GNSS data is then compared with data obtained from the calibration data set obtained using the manual method. In other words, both methods are compared and an error or deviation is determined, which is then fed into an improved, supplemented calibration data set.

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

This procedure can also be carried out if a GNSS system becomes available again after a temporary failure.

• Befestigen der Lage- und Positionsbestimmungseinheit an dem Werkzeug,
• Verlagern des Werkzeugs, um einen vorbestimmten geostationären Punkt für das Werkzeug anzufahren, und Erfassen von einem ersten Messwert an einem ersten Messpunkt, mit Positionsdaten indikativ für die Position der Lage- und Positionsbestimmungseinheit mit dem GNSS-Modul der Lage- und Positionsbestimmungseinheit, und mit Lagedaten indikativ für die Raumlage der Lage- und Positionsbestimmungseinheit mit der Lagesensorbaugruppe der Lage- und Positionsbestimmungseinheit,
• Verlagern des Werkzeugs, derart, dass eine Neigung des Werkzeugs verändert wird, wobei eine Referenzmarke des Werkzeugs an einer gleichen, vorbestimmten Position verbleibt,
• Erfassen von mindestens zwei weiteren Messwerten an mindestens zwei weiteren Messpunkten, mit weiteren Positionsdaten indikativ für die Position der Lage- und Positionsbestimmungseinheit mit dem GNSS-Modul der Lage- und Positionsbestimmungseinheit durch zumindest zweimaliges Durchführen des Vorgängerschritts und dieses Schritts,
• Auswerten der Messwerte, um eine Lotabweichung der Lage- und Positionsbestimmungseinheit und/oder eine Distanz zwischen der Lage- und Positionsbestimmungseinheit und der Referenzmarke zu bestimmen,
• Erzeugen des Kalibrier-Datensatzes durch Auswerten der Lotabweichung und/oder der Distanz.

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

• Attaching the position and orientation determination unit to the tool,
• Moving the tool to approach a predetermined geostationary point for the tool and capturing a first measurement value at a first measurement 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 position data indicative of the spatial position of the attitude and position determination unit with the position sensor assembly of the attitude and position determination unit,
• Moving the tool in such a way that an inclination of the tool is changed, whereby a reference mark of the tool remains at a same, predetermined position,
• Recording 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 performing the previous step and this step at least twice,
• Evaluating the measured values to determine a vertical deviation of the position and attitude determination unit and/or a distance between the position and attitude determination unit and the reference mark,
• Generate the calibration data set by evaluating the plumb deviation and/or the distance.

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

Data from a GNSS system is also required for this method. The position data can only be recorded when the first measured value is recorded at the first measuring point. However, it can also be planned to record the position data at the other measuring points.

For evaluation purposes, a target curve may be approximated by a circle or a circular segment 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 circular segment, which is representative of the distance.

In total, 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.

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

• Befestigen der Lage- und Positionsbestimmungseinheit an dem Werkzeug,
• Verlagern des Werkzeugs, um einen vorbestimmten geostationären Punkt für das Werkzeug anzufahren, und Erfassen von einem ersten Messwert an einem ersten Messpunkt, mit Positionsdaten indikativ für die Position der Lage- und Positionsbestimmungseinheit mit dem GNSS-Modul der Lage- und Positionsbestimmungseinheit, und mit Lagedaten indikativ für die Raumlage der Lage- und Positionsbestimmungseinheit mit der Lagesensorbaugruppe der Lage- und Positionsbestimmungseinheit,
• Verlagern des Werkzeugs, derart, dass eine Neigung des Werkzeugs verändert wird, wobei eine Referenzmarke des Werkzeugs an einer gleichen, vorbestimmten Position verbleibt,
• Erfassen von einem zweiten Messwert an einem zweiten Messpunkt, mit weiteren Positionsdaten indikativ für die Position der Lage- und Positionsbestimmungseinheit mit dem GNSS-Modul der Lage- und Positionsbestimmungseinheit, und mit weiteren Lagedaten indikativ für die Raumlage der Lage- und Positionsbestimmungseinheit mit der Lagesensorbaugruppe der Lage- und Positionsbestimmungseinheit,
• Auswerten der Messwerte, um eine Lotabweichung der Lage- und Positionsbestimmungseinheit und/oder eine Distanz zwischen der Lage- und Positionsbestimmungseinheit und der Referenzmarke zu bestimmen, und
• Erzeugen des Kalibrier-Datensatzes durch Auswerten der Lotabweichung und/oder der Distanz.

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

• Attaching the position and orientation determination unit to the tool,
• Moving the tool to approach a predetermined geostationary point for the tool and capturing a first measurement value at a first measurement 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 position data indicative of the spatial position of the attitude and position determination unit with the position sensor assembly of the attitude and position determination unit,
• Moving the tool in such a way that an inclination of the tool is changed, whereby a reference mark of the tool remains at a same, predetermined position,
• Recording 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 spatial position of the attitude and position determination unit with the position sensor assembly of the attitude and position determination unit,
• Evaluating the measured values to determine a vertical deviation of the position and attitude determination unit and/or a distance between the position and attitude determination unit and the reference mark, and
• Generate the calibration data set by evaluating the plumb deviation and/or the distance.

This is also an automatic process, without the need for manual measurements by the machine operator.

Data from a GNSS system is also a prerequisite for this method. The position data is recorded 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, it can also be planned to record further measured values including the position data at other measuring points.

Here too, for the evaluation, it can be provided that a target curve is approximated by a circle or a circular segment 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 circular segment, which is representative of the distance.

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

The invention also includes a computer program product, a system for position and Spatial position determination of a tool for soil cultivation on an adjustable boom of a land vehicle and a position and position determination assembly for such a system. The position and position determination assembly can have a display device and/or a terminal and/or control output device, wherein the display device and/or the terminal and/or control output device are designed as a mobile device.

• 1 in schematischer Darstellung ein Landfahrzeug mit einem System zur Positions- und Raumlagebestimmung eines Werkzeugs des Landfahrzeugs.
• 2 in schematischer Darstellung weitere Details des in 1 gezeigten Auslegers mit dem Werkzeug.
• 3 in schematischer Darstellung weitere Details des in 1 gezeigten Werkzeugs.
• 4 in schematischer Darstellung Komponenten des in 1 gezeigten Systems.
• 5 in schematischer Darstellung weitere Details der in 4 gezeigten Referenzstation.
• 6 in schematischer Darstellung weitere Details einer der Komponenten des in 1 gezeigten Systems.
• 7 in schematischer Darstellung ein Werkzeug während eines Kalibriervorgangs.
• 8 in schematischer Darstellung ein Werkzeug während eines weiteren Kalibriervorgangs.
• 9 in schematischer Darstellung einen weiteren Kalibriervorgang.
• 10 in schematischer Darstellung einen weiteren Kalibriervorgang.
• 11 in schematischer Darstellung einen Verfahrensablauf gemäß einem ersten Ausführungsbeispiel zur Kalibrierung des in 1 gezeigten Systems.
• 12 in schematischer Darstellung einen Verfahrensablauf gemäß einem zweiten Ausführungsbeispiel zur Kalibrierung des in 1 gezeigten Systems.
• 13 in schematischer Darstellung einen Verfahrensablauf gemäß einem dritten Ausführungsbeispiel zur Kalibrierung des in 1 gezeigten Systems.
• 14 in schematischer Darstellung einen Verfahrensablauf gemäß einem vierten Ausführungsbeispiel zur Kalibrierung des in 1 gezeigten Systems.
• 15 in schematischer Darstellung einen Verfahrensablauf zum Betrieb des in 1 gezeigten Systems.

The invention will now be explained using the figures. They show:

• 1 A schematic representation of a land vehicle with a system for determining the position and spatial orientation of a tool of the land vehicle.
• 2 in schematic representation further details of the 1 shown boom with the tool.
• 3 in schematic representation further details of the 1 shown tool.
• 4 Schematic representation of components of the 1 shown system.
• 5 in schematic representation further details of the 4 shown reference station.
• 6 in schematic representation further details of one of the components of the 1 shown system.
• 7 A schematic representation of a tool during a calibration process.
• 8th A schematic representation of a tool during another calibration process.
• 9 A schematic representation of another calibration process.
• 10 A schematic representation of another calibration process.
• 11 in schematic representation a process sequence according to a first embodiment for the calibration of the 1 shown system.
• 12 in schematic representation a process sequence according to a second embodiment for the calibration of the 1 shown system.
• 13 in schematic representation a process sequence according to a third embodiment for the calibration of the 1 shown system.
• 14 in schematic representation a process sequence according to a fourth embodiment for the calibration of the 1 shown system.
• 15 in schematic representation a process flow for the operation of the 1 shown system.

It will initially focus on 1 reference is made.

Shown is a land vehicle 1 with a system 21 for determining the position and spatial orientation of a tool 2 of the land vehicle 1.

In the present exemplary embodiment, the land vehicle 1 is designed as an excavator with an adjustable boom 3, to the end of which the tool 2 is attached, which in the present exemplary embodiment is designed as an excavator bucket. With such a land vehicle 1, for example, soil cultivation can be carried out according to plan specifications, whereby here an earth's surface is only worked with a reference mark 11 of the tool 2. In the present exemplary embodiment, the reference mark 11 is a tool tip of the tool 2 with which the earth's surface is worked. 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 land 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 system 21 for position and spatial orientation determination, 1 a position and location determination module 4 and a terminal and/or control output device 6 are shown.

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

While the attitude and position determination unit 8 is attached to the tool 2 and the display device 5 is attached to the boom 3, the terminal and/or 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 be a terminal which, due to its size and weight, can be moved without major physical effort portable and therefore suitable for mobile use. Examples of mobile devices include smartphones, tablet computers and notebooks.

It is now additionally 2 reference is made.

The position determination unit 8 and the display device 5 are each attached 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 embodiment. For this purpose, magnets 9 are provided between the position determination unit 8 and the tool 2 and between the display device 5 and the boom 3. They can be strong permanent magnets, such as NdFeB magnets.

Deviating from the present embodiment, a frame-shaped holder 10 can also be used to fasten the position and location determination unit 8 to the tool 2 and/or the display device 5 to the boom 3. By using the frame-shaped holder 10, which is firmly connected to the tool 2 or the boom 3, it is ensured that the position and location determination unit 8 and/or the display device 5 each have defined positions and spatial locations that are retained even after separation or disassembly and reassembly of the position and location determination unit 8 and/or the display device 5. This also reduces the effort required for calibrations.

It is now additionally 3 reference is made.

The position and location determination unit 8 is placed on the tool 2 in such a way that at least in certain positions of the tool 2 a clear field of view of satellites 701 (see 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 bucket.

A GNSS system (global navigation satellite system) is a system for determining positions and navigation on earth and 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 data (Radio Technical Commission for Maritime Services) for RTK (Real Time Kinematic), runtime errors caused by the atmosphere and ionosphere can be corrected and 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 GNSS navigation is increased by transmitting correction data (orbit and time system).

In the present 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, for example, the display device 5 and/or the terminal 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, wherein the software components are designed in particular as modules.

It is now additionally 4 Reference is made to further details of the 1 components shown and a reference station 7.

• Ein GNSS-Modul 702 für den Empfang von Positionsdaten PD des GNSS-Systems, eine im vorliegenden Ausführungsbeispiel als Beschleunigungssensorbaugruppe (IMU - Inertial Measuring Unit) ausgebildete Lagesensorbaugruppe 703 mit mindestens zwei Messachsen zur Lageerfassung der Lage- und Positionsbestimmungseinheit 8, ein Sende- und Empfangs-Modul 706a zum drahtlosen Datenaustausch mit den anderen Komponenten des Systems 21 zur Positions- und Raumlagebestimmung, eine Anzeigeeinheit 704a, ein Eingabegerät 705, einen Mikrocontroller als Recheneinheit zur Lage- und Positionsberechnung und einen Akkumulator 707a zur Betriebsenergieversorgung.

In the present embodiment, the attitude and position determination unit 8 has the following subcomponents:

• A GNSS module 702 for receiving position data PD of the GNSS system, a position sensor assembly 703, designed in the present embodiment as an acceleration sensor assembly (IMU - Inertial Measuring Unit) with at least two measuring axes for detecting the position of the position and position determination unit 8, a transmitting and receiving module 706a for wireless data exchange with the other components of the system 21 for position and spatial orientation determination, 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 energy supply.

The position sensor assembly 703 is designed to determine the current spatial position of the position and attitude determination assembly 4 in relation to gravity or to the plumb line L (see e.g. 7 ) to determine.

In the present embodiment, the at least two measuring axes of the respective acceleration sensors of the position sensor assembly 703 are arranged orthogonally to each other in order to to determine the spatial position or an inclination of the tool 2. With the help of the microcontroller, the position and location of the reference mark 11 are determined from the position data PD and the location data LD of the position sensor assembly 703 as well as a calibration data set KDS, as will be explained in detail later.

The position sensor assembly 703 can also have an inertial navigation system. The short-term accurate but drifting inertial system can be fused with the long-term stable but short-term variable fluctuating data of the GNSS system. This enables a more precise position determination as well as a short-term sufficiently accurate position determination in the event of a short-term interruption of a connection to the GNSS system. A short-term interruption of a connection to the GNSS system can occur, for example, during an excavation process when the excavated earth is moved in a tool 2 designed as an excavator bucket and the GNSS antenna 13 (see 6 ) does not have a clear view of the satellites 701.

On the basis of these data, the difference between an actual position and a target position of the tool 2 is calculated by the microcontroller during operation and is displayed by the microcontroller, for example, on the display unit 704a or transmitted to an external device.

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

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

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 embodiment, the reference station 7 has a display unit 704d, a transmitting and receiving module 706d and an accumulator 707d.

It is now additionally 5 reference is made.

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

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 of 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 attitude and position determination module 4 connects to the reference station 7 automatically, for example via a mobile network (LTE, 3G, 5G, EDGE, ...) or with the help of the display device 5 as a relay station, e.g. via long-distance radio. Transmission standards that can be used include WLAN, Bluetooth, 868MHz, LoRa, UWB radio or mobile radio standards.

It is now additionally 6 Reference is made to explain further details of the attitude and position determination unit 8.

In the present embodiment, the attitude and position determination unit 8 has an optional display 16 with, for example, LEDs as lighting means 15, which is connected to the other components of the attitude and position determination assembly 4 via a cable connection (display connector 17) for transmitting data and operating energy.

Furthermore, the attitude and position determination unit 8 in the present embodiment has buttons 18, 19, 20 or other switching elements for configuring the attitude and position determination assembly 4.

Furthermore, it is shown that the attitude and position determination unit 8 has a GNSS antenna 13 with a GNSS antenna center 14.

The position determination module 4 can be put into operation automatically, for example, without the need to operate a switch or button, simply by removing it from a transport container or, for example, using the button 18. After removal, the position determination unit 8 connects itself wirelessly to the appropriate networked GNSS reference station 7 or with a GNSS correction data network service.

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

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

Furthermore, the position and location determination unit 8 is designed to evaluate the position data set PDS and the position data set LDS using a calibration data set KDS in order to determine an output data set ADS indicative of the spatial location and position of the tool 2, and to output the output data set ADS.

For example, a point at a desired height can be approached using the reference mark 11 of the tool 2 and transferred to a configuration by pressing the button 19. 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 orientation of the reference mark 11 can now be determined based on the position and spatial orientation of the attitude and position determination unit 8.

The calibration data set KDS is determined at least once after the orientation and position determination unit 8 has been attached to the tool 2, as will be explained in detail later.

It is now additionally 7 and 8th reference is made.

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

The angle δ can also be understood as a rod axis error or rod axis error, i.e. as a deviation from the plumb line L, while the angle α can be understood as a tilt axis error in relation to the spatial position B of the attitude and position determination unit 8.

In 8th In contrast, a scenario is shown in which tool 2 has a further angular offset with the angle value δ due to a rotation. Tool 2 was therefore brought out of perpendicular L by a rotation around the y-axis. The angle α of the angular offset, however, has not changed and can be used to calculate the angular offset.

In order to be able to determine the current spatial position and position of the reference mark 11, the angle α of the angular offset and a value for the distance R from the orientation and position determination unit 8 to the reference mark 11 are required.

The calibration data set KDS can contain at least one angle value α, 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 understood as offset values in order to be able to draw conclusions about the spatial position and position of the reference mark 11 from the spatial position and position of the attitude and position determination unit 8.

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

Using the altitude value h _GNSS according to the GNSS module 702, the altitude h _Ref of the reference mark 11 can then be determined as follows: $$H_{Ree}=H_{GNSS}-H$$

The height value h can be determined in a two-dimensional coordinate system as follows: $$H=R\cdot \text{cos}\left(\beta \right)mit\beta =\delta -\alpha$$

The angle value δ denotes the current spatial position of the position and position determination unit 8, relative to the plumb line L and a perpendicular S through the position sensor assembly 703 of the position and position determination unit 8. The angle value β denotes the spatial position of the position and position determination unit 8, corrected by the offset angle α, relative to the plumb line L and a Vertical S through the position sensor assembly 703 of the position and position determination unit 8. In the 7 In the scenario shown, the angle value β = δ - α = 0, in which 8th shown scenario β ≠ 0.

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

It will now be discussed with reference to 7 a first embodiment of a manual calibration method for determining the calibration data set KDS is explained.

After the reference mark 11 of the tool 2 has been aligned by tilting the tool 2 about the y-axis such that the reference mark 11 is in line L with the orientation and position determination unit 8, the distance R between the orientation and position determination unit 8 and the reference mark 11 is determined manually with a meter stick or a similar measuring device with an accuracy of e.g. 0.5 cm.

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

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

For example, from the distance R and the angle value α, the attitude and position determination unit 8 of the attitude and position determination assembly 4 then generates the calibration data set KDS.

Deviating from the present embodiment, the determination of the calibration data set KDS can take place in the display device 5 of the attitude and position determination assembly 4.

It will now be discussed with reference to 8th a second embodiment of a combined manual/automatic or semi-automatic calibration method for determining the calibration data set KDS is explained.

The calibration method according to the present second embodiment is based on the 7 described calibration procedures and allows an increase in accuracy.

For this purpose, the position and location determination unit 8 is designed to align the tool 2 in such a way that the tool 2 assumes a predetermined position, in the present embodiment a position with maximum inclination in relation to the y-axis. For this purpose, the boom 3 can be controlled manually or by means of a control data set. The tool 2 is displaced or aligned around the y-axis in such a way that the reference mark 11 remains at the same position I. During this alignment process, position data PD are recorded using the GNSS module 702. This can take place continuously, i.e. at intervals of a predetermined time period, or discretely at predetermined positions.

By comparing positions determined using the calibration data set KDS, difference data DD can now be determined.

The difference data DD are determined by comparing an ideal circle or circular segment, defined by the previously manually determined distance R and the previously determined angle value α, with the position data PD.

The attitude and position determination unit 8 then supplements the calibration data set KDS with corresponding correction data.

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

Deviating from the present embodiment, the determination of the calibration data set KDS can take place in the display device 5 of the attitude and position determination assembly 4.

It will now be discussed with reference to 9 a further, third embodiment of an automatic calibration method for determining the calibration data set KDS is explained.

The tool 2 is moved, e.g. manually or by means of a control data set, such that the reference mark 11 remains at the same predetermined position I, wherein during the alignment position data PD are recorded with the GNSS module 702 of the attitude and position determination assembly 4.

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

For evaluation purposes, a target curve may be approximated by a circle SK or a circular segment 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, in order to determine the radius of the approximated circle SK or circular segment, which is representative of the distance R.

An angle γ is then determined between a straight line G, which connects the center of the specific circle SK and the first measuring point MP1, and a horizon HO. Furthermore, the angle value of the angle δ is determined. The distance e is the distance from the center of the specific circle SK to the position of the attitude and position determination unit 8 in relation to the horizon HO: $$e=R\cdot \text{cos}\left(\gamma \right)$$

The angle value of the angle α is then: $$\propto =\gamma -\delta$$

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

Deviating from the present embodiment, the determination of the calibration data set KDS can take place in the display device 5 of the attitude and position determination assembly 4.

It will now be discussed with reference to 10 a further, fourth embodiment of a likewise automatic calibration method for determining the calibration data set KDS is explained.

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

For evaluation, a target curve is determined by a circle SK or a circular segment taking into account the two measuring 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 spatial position of the attitude and position determination unit 8. The position data PD are determined with the GNSS module 702 of the attitude and position determination unit 8, while the position data LD are determined with the position sensor assembly 703 of the attitude and position determination unit 8. The position data PD can be a three-dimensional data set.

Using the specific circle SK, values for the angle ε and a chord d can then be determined. The value for the angle ε is a measure of the 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, which corresponds to the distance R, and the angular value of the angle α can be determined.

In addition, the position at which the attitude 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 position deviation of the attitude and position determination unit 8 with respect to the perpendicular L can be determined. For this, no data is required for which the attitude and position determination unit 8 with its GNSS antenna center 14 and the reference mark 11 are actually located in the perpendicular L. The determined position deviation with respect to the perpendicular L and the distance R can be added to the calibration data set KDS.

Deviating from the present embodiment, the determination of the calibration data set KDS can take place in the display device 5 of the attitude and position determination assembly 4.

After completion of, for example, soil cultivation according to plan, the position determination assembly 4 can be separated from the tool 2 by simply dismantling it and placed back in the transport container, where it is then automatically deactivated. The removal or placement of the position determination assembly 4 in its transport container can be detected, for example, by a loading device integrated in the transport container.

The calibration data set KDS can be assigned and stored to the tool 2 and a position of the position and orientation determination unit 8 on the tool 2, so that the calibration process only has to be carried out once for this tool 2 and this position. The calibration data set KDS can be stored together with data that allow identification of the tool 2 and with data indicative of the position on the tool 2, e.g. in the position and orientation determination assembly 4 and/or the terminal and/or control output device 6 and from there the configuration can later be carried out according to the calibration data set KDS.

It will now be discussed with reference to 11 a method for calibration, in particular for manual calibration, according to the first embodiment is explained.

In a first step S100a, the orientation and position determination unit 8 of the orientation 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 such that the reference mark 11 is in line L with the orientation and position determination unit 8.

In a further step S300a, the distance R between the attitude 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 attitude and position determination unit 8 is determined with the position sensor assembly 703.

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

It will now be discussed with reference to 12 a further method according to the second embodiment for increasing the accuracy of the calibration from the first embodiment, in particular for combined manual/automatic calibration, according to the second embodiment is explained.

After steps S100a to S600a have been carried out according to the first 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 remains at the same predetermined position I during the alignment. Now, during the alignment of the tool 2, position data PD are recorded with the GNSS module 702.

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

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

It will now be discussed with reference to 13 a method for calibration, in particular for automatic calibration, according to the third embodiment is explained.

In a first step S100b, the orientation and position determination unit 8 of the orientation and position determination assembly 4 is attached to the tool 2.

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

In a further step S300b, the tool 2 is displaced again such that an inclination of the tool 2 is changed, but the reference mark 11 remains at a same, predetermined position I.

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 increase the accuracy. The repetition of steps S300b and S400b can be carried out either continuously during the displacement of the tool 2 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 attitude and position determination unit 8 and/or the distance R between the attitude and position determination unit 8 and the reference mark 11.

In a further step S600b, the calibration data set KDS is determined by evaluating the plumb deviation LAB and/or the distance R.

It will now be discussed with reference to 14 a method for calibration, in particular for automatic calibration, according to the fourth embodiment is explained.

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

In a further step 200c, the tool 2 is moved 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 are recorded with the GNSS module 702 of the attitude and position determination unit 8. Furthermore, the first measured value MW has the position data LD indicative of the spatial position of the attitude and position determination unit 8, which are recorded with the position sensor assembly 703 of the attitude and position determination unit 8.

In a further step S300c, the tool 2 is displaced such that an inclination of the tool 2 is changed, wherein the reference mark 11 of the tool 2 remains at a 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 attitude and position determination unit 8, which are recorded with the GNSS module 702 of the attitude and position determination unit 8. Furthermore, the second measured value MW has the further position data LD indicative of the spatial position of the attitude and position determination unit 8, which are recorded with the position sensor assembly 703 of the attitude 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 attitude and position determination unit 8 and/or the distance R between the attitude 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 plumb deviation LAB and/or the distance R.

In all described calibration procedures, it can be provided that individual measuring points MP1, MP2, ... MPx are approached several times in order to record measured values MW in order to increase the accuracy through multiple measurements.

Furthermore, in all described methods for calibration, it can be provided that the calibration data set KDS is assigned to the tool 2 and the position of the position and position determination unit 8 or a component of the position 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 calibration data set KDS together with data from an identification data set ID (see 15 ), which allow identification of the tool 2, and with position and orientation data PLD (see also 15 ) indicative of the position and location on the tool 2 can be stored, for example, in a component of the position and positioning determination assembly 4 and/or the terminal and/or control output device 6 and loaded from there when the device is put into operation again in order to carry out a configuration according to the calibration data set KDS without recalibration. If, however, the frame-shaped holder 10 is used for fastening instead of the magnets 9, the position and location data PLD can be dispensed with, since the position and spatial location of the position and positioning determination unit 8 is determined by the frame-shaped holder 10.

It can also be provided that the tool 2 and, for example, a component of the position and location determination assembly 4 form a unit that cannot be separated from one another and to which the identification data set ID is assigned. In this way, an interim tool change of the tool 2 can take place without recalibration being necessary.

It will now be discussed with reference to 15 a method for determining the position and spatial orientation of tool 2 is explained.

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

In a first step S1100, a position data record PDS indicative of the position of the position and position determination unit 8 of the position and position determination assembly 4 is 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 spatial position of the position and position determination unit 8 is determined using the position sensor assembly 703 of the position and position determination unit 8.

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

In a further step S1300, the position data set PDS and the location data set LDS are evaluated using the calibration data set KDS in order to determine an output data set ADS indicative of the spatial orientation and position of the tool 2.

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

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

In a further step S1500, for example after completion of soil cultivation according to plan specifications, the position and location determination assembly 4 is separated from the tool 2 by simply dismantling it and placed back in the transport container, where it is then automatically deactivated. The detection of the placement of the position and location determination assembly 4 in its transport container can be carried out, for example, by a loading device integrated in the transport container.

Deviating from the present embodiment, the order of the steps may also be different. Furthermore, several steps may be carried out at the same time or simultaneously. Furthermore, deviating from the present embodiment, individual steps may be skipped or omitted.

If necessary, a land vehicle 1, such as a construction machine, can be retrofitted quickly. The free choice of the position of the attitude and position determination assembly 4 or a component of the attitude and position determination assembly 4 and subsequent calibration with the calibration data set KDS simplifies assembly and no complex calibration of a specially trained construction machine is required at the factory.

List of reference symbols

1

Land vehicle

2

Tool

3

boom

4

Position and position determination assembly

5

Display device

6

Terminal and/or control output device

7

Reference station

8th

Attitude and position determination unit

9

magnet

10

bracket

11

Reference mark

12

Tripod

13

GNSS antenna

14

GNSS Antenna Center

15

Lamps

16

Advertisement

17

Display connector

18

button

19

button

20

button

21

System

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

Transmitting and receiving module

706b

Transmitting and receiving module

706c

Transmitting and receiving module

706d

Transmitting and receiving module

707a

accumulator

707b

accumulator

707d

Accumulator

ADS

Output data set

B

Spatial location

d

Chord

e

Distance

DD

Difference data

G

Straight

H

Height

hGNSS

Altitude value

hRef

Height of reference mark

HO

horizon

KDS

Calibration data set

L

Lot

LDS

Location dataset

LAB

Plumb deviation

MP1

Measuring point

MP2

Measuring point

MPx

Measuring point

MW

Measured values

I

position

ID

Identification record

PD

Position data

PDS

Position record

PLD

Position and location data

R

distance

S

Vertical through the sensor assembly

SDS

Tax record

ss

Circle

T

Tangent

α

angle

β

angle

γ

angle

δ

angle

ε

Angle

S100a

Step

S100b

Step

S100c

Step

S200a

Step

S200b

Step

S200c

Step

S300a

Step

S300b

Step

S300c

Step

S400a

Step

S400b

Step

S400c

Step

S500a

Step

S500b

Step

S500c

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 (15)

Method for determining the position and spatial orientation of a tool (2) for soil cultivation on an adjustable boom (3) of a land vehicle (1), comprising 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 spatial orientation of the position and position determination unit (8) with a position sensor assembly (703) of the position and position determination unit (8), (S1300) evaluating the position data set (PDS) and the position data set (LDS) using a calibration data set (KDS) to generate an output data set (ADS) indicative of the spatial orientation and position of the tool (2) to and (S1400) output the output data set (ADS). Procedure according to Claim 1 , wherein the following steps are carried out to determine the calibration data set (KDS): (S100a) fastening the position and position determination unit (8) to the tool (2), (S200a) aligning a reference mark (11) of the tool (2) by tilting the tool (2) such that the reference mark (11) is perpendicular (L) to the position and position determination unit (8), (S300a) determining a distance (R) between the position and position determination unit (8) and the reference mark (11), (S400a) reading in the distance (R) from the position and position determination unit (8), (S500a) determining a perpendicular deviation (LAB) of the position and position determination unit (8) with the position sensor assembly (703) of the position and position determination unit (8), and (S600a) generating the calibration data set (KDS) by evaluating the plumb deviation (LAB) and the distance (R). Procedure according to Claim 2 , wherein in addition to determining the calibration data set (KDS), the following steps are carried out: (S700a) aligning 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) remains at the same, predetermined position (I) during the alignment, wherein during the alignment position data (PD) are recorded with the GNSS module (702) of the attitude and position determination unit (8), (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). Procedure according to Claim 1 , wherein the following steps are carried out to determine the calibration data set (KDS): (S100b) fastening the position and position determination unit (8) to the tool (2), (S200b) moving the tool (2) to approach a predetermined geostationary point for the tool (2), and recording a first measured value (MW) at a first measuring point (MP1), with position data (PD) indicative of the position of the position and position determination unit (8) with the GNSS module (702) of the position and position determination unit (8), and with position data (LD) indicative of the spatial position of the position and position determination unit (8) with the position sensor assembly (703) of the position and position determination unit (8), (S300b) moving the tool (2) in such a way that an inclination of the tool (2) is changed, wherein a reference mark (11) of the tool (2) is at a remains in the same, predetermined position (I), (S400b) recording 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) of the attitude 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 vertical deviation (LAB) of the attitude and position determination unit (8) and/or a distance (R) between the attitude and position determination unit (8) and the reference mark (11), and (S600b) generating the calibration data set (KDS) by evaluating the vertical deviation (LAB) and/or the distance (R). Procedure according to Claim 1 , wherein the following steps are carried out to determine the calibration data set (KDS): (S100c) fastening the position and position determination unit (8) to the tool (2), (S200c) moving the tool (2) to approach a predetermined geostationary point for the tool (2), and recording a first measured value (MW) at a first measuring point (MP1), with position data (PD) indicative of the position of the position and position determination unit (8) with the GNSS module (702) of the position and position determination unit (8), and with position data (LD) indicative of the spatial position of the position and position determination unit (8) with the position sensor assembly (703) of the position and position determination unit (8), (S300c) moving the tool (2) in such a way that an inclination of the tool (2) is changed, wherein a reference mark (11) of the tool (2) is at a the 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 position and position determination unit (8) with the GNSS module (702) of the position and position determination unit (8), and with further position data (LD) indicative of the spatial position of the position and position determination unit (8) with the position sensor assembly (703) of the position and position determination unit (8), (S500c) evaluating the measured values (MW) in order to determine a vertical deviation (LAB) of the position and position determination unit (8) and/or a distance (R) between between the attitude and position determination unit (8) and the reference mark (11), and (S600c) generating the calibration data set (KDS) by evaluating the plumb deviation (LAB) and/or the distance (R). Method according to one of the Claims 1 until 5 , wherein an inertial navigation system of the attitude and position determination unit (8) additionally provides data for the attitude data set (LDS). Computer program product designed to carry out a method according to one of the Claims 1 until 6 . System (21) for determining the position and spatial orientation of a tool (2) for soil cultivation on an adjustable boom (3) of a land vehicle (1), wherein a position and position determination unit (8) of a position and position determination assembly (4) of the system (21) on the tool (2) is designed to determine a position data set (PDS) indicative of the position of the position and position determination unit (8) with a GNSS module (702), to determine a position data set (LDS) indicative of the spatial orientation of the position and position determination unit (8) with a position sensor assembly (703), to evaluate the position data set (PDS) and the position data set (LDS) using a calibration data set (KDS) in order to determine an output data set (ADS) indicative of the spatial orientation and position of the tool (2), and to output the output data set (ADS). System (21) according to Claim 8 , wherein the attitude and position determination unit (8) is attachable to the tool (2), wherein the system (21) for determining the calibration data set (KDS) is designed, after aligning a reference mark (11) of the tool (2) by tilting the tool (2) such that the reference mark (11) is perpendicular (L) to the attitude and position determination unit (8), to determine 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 perpendicular deviation (LAB) of the attitude and position determination unit (8) with the position sensor assembly (703) of the attitude and position determination unit (8), and to generate the calibration data set (KDS) by evaluating the perpendicular deviation (LAB) and the distance (R). System (21) according to Claim 9 , 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) assumes a predetermined position (I) with a predetermined inclination, in particular with a maximum inclination, and the reference mark (11) remains in the same, predetermined position (I) during the alignment of the tool (2), wherein the system (21) is designed to acquire position data (PD) with the GNSS module (702) of the attitude and position determination unit (8) during the alignment, to determine difference data (DD) by evaluating the determined calibration data set (KDS) and the determined position data (PD), and to supplement the calibration data set (KDS) by evaluating the difference data (DD). System (21) according to Claim 8 , wherein the position and position determination unit (8) can be fastened to the tool (2), wherein the system (21) for determining the calibration data set (KDS) is designed to cause a displacement of the tool (2) in order to approach a predetermined geostationary point for the tool (2) and to record at least a first measured value (MW) at a first measuring point (MP1), wherein the first measured value (MW) has position data (PD) indicative of the position of the position and position determination unit (8), which are recorded with the GNSS module (702) of the position and position determination unit (8), and wherein the first measured value (MW) has position data (LD) indicative of the spatial position of the position and position determination unit (8), which are recorded with the position sensor assembly (703) of the position and position determination unit (8), wherein the system (21) is designed to displace the tool (2), such that an inclination of the tool (2) is changed, wherein a reference mark (11) of the tool (2) remains at a same, predetermined position (I), wherein the system (21) is designed to record at least two further measured values (MW) at at least two further measuring points (MP2, ... MPx), wherein the further measured values (MW) at the at least two further measuring points (MP2, ... MPx) each have further position data (PD) indicative of the position of the position and position determination unit (8), which are recorded with the GNSS module (702) of the position and position determination unit (8), wherein the system (21) is designed to evaluate the measured values (MW) in order to determine a vertical deviation (LAB) of the position and position determination unit (8) and/or a distance (R) between the position and position determination unit (8) and the reference mark (11), and wherein the system (21) is designed to calculate the calibration data set (KDS) by evaluating the vertical deviation (LAB) and/or the distance (R). System (21) according to Claim 8 , wherein the position determination unit (8) can be attached to the tool (2), wherein the system system (21) for determining the calibration data set (KDS) is designed to cause 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 position and position determination unit (8), wherein the position data (PD) are detected with the GNSS module (702) of the position and position determination unit (8), and wherein the first measured value (MW) at the first measuring point (MP1) has position data (LD) indicative of the spatial position of the position and position determination unit (8), which are detected with the position sensor assembly (703) of the position and position determination unit (8), for displacing the tool (2) in such a way that an inclination of the tool (2) is changed, wherein a reference mark (11) of the tool (2) is at a same, predetermined position (I), for detecting a second measured value (MW) at a second measuring point (MP2) with further position data (PD) indicative of the position of the position and position determination unit (8), which are detected with the GNSS module (702) of the position and position determination unit (8), 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 are detected with the position sensor assembly (703) of the position and position determination unit (8), wherein the system (21) is designed to evaluate the measured values (MW) in order to determine a vertical deviation (LAB) of the position and position determination unit (8) and/or a distance (R) between the position and position determination unit (8) and the reference mark (11), and wherein the system (21) is designed to generate the calibration data set (KDS) by evaluating the plumb deviation (LAB) and/or the distance (R). System (21) according to one of the Claims 8 until 12 , wherein the attitude and position determination unit (8) has an inertial navigation system which additionally provides data for the attitude data set (LDS). Attitude and position determination assembly (4) for a system (21) according to one of the Claims 8 until 13 . Position and position determination assembly (4) according to Claim 14 , wherein the attitude and position determination assembly (4) has a display device (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.

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