Abstract: A computer program product for deriving a heading of an implement of a work vehicle. The work vehicle comprises, as independently tracked components, the implement, a chassis, and an arm connecting the two. For each of the independently tracked components a respective IMU is correspondingly associated, wherein the IMU provides an IMU reference frame of the component. The computer program product derives, on the basis of the IMU reference frames, internal and external constraints consistent component reference frames. The heading of the implement is derived utilizing the consistent component reference frames.

Abstract: A computer program product comprising a program code, wherein the program code is configured for calibrating mounting alignments of a set of inertial measurement units (IMUs) on a construction vehicle, wherein the set of IMUs comprises at least two IMUs each being mounted on different parts of the construction vehicle, and provides an at least partially automatically executing calibration routine for the mounting alignments of the set of IMUs on the construction vehicle, wherein for the calibration routine the following is defined: a sequence of N calibration measurements, with N greater than or equal to three, is to be carried out by the set of IMUs, and for each I-th of the N calibration measurements, with I consecutively from one to N, an I-th pose of the construction vehicle is to be adopted.

Abstract: A method for deriving a wear state of a soil interaction component of a soil processing implement of a construction vehicle. The method comprises steps of 1.) providing a geometry model regarding an assumed shape of the soil interaction component, 2.) engaging the soil by using the soil interaction component and tracking a motion for deriving tracking data of the soil interaction component, 3.) using the tracking data and the geometry model to derive an expected 3D surface model, 4.) providing visual 3D perception data of a soil area affected by the engaging, such that the visual 3D perception data and the expected 3D surface model can be referenced to one another, and 5.) comparing the visual 3D perception data with the expected 3D surface model and, based thereof, determining a deviation of an effective shape of the soil interaction component from the assumed shape.

Abstract: A method for tracking a movable implement of a work vehicle. The method comprises the steps of 1.) accessing images during movement of the work vehicle providing a view onto an environment and at least part of the implement, 2.) providing by a feature tracking algorithm a 3D environment model and referencing of the sensor pose to the 3D environment model, 3.) tracking implement features at different poses of the implement and, determining implement tracking data providing positional and arrangement information for the implement features, 4.) accessing benchmark information providing a real distance between two benchmark points, 5.) using the benchmark information to provide the implement tracking data with absolute scale information, and 6.) using the implement tracking data for the tracking of the implement.

Abstract: A construction machine comprising a chassis, a steering, and a powertrain for driving the construction machine by the chassis, an earth-moving tool for working a terrain, and a measuring system having a first measuring unit configured for generating first measuring data in a first detection range and comprising at least a first camera and a first LiDAR scanner configured for rotating a first measuring beam around a first axis and around a second axis non-parallel to the first axis with a rotating speed of at least 0.5 Hz with respect to each axis, an interface connecting the first measuring unit to a computer configured for, based on the first measuring data, at least one of generating a three-dimensional model of the terrain within the first detection range, identifying an obstacle or a person within the first detection range, and controlling the steering, the powertrain, and/or the earth-moving tool.

Abstract: Automation and/or operator assistance in an excavation operation to obtain a design surface that makes use of resistance data indicative of a resistance exerted on an end effector of the excavator when it engages material to be moved. Control commands for maneuvering the end effector are mapped to movement commands for the end effector according to a first and a second conversion rule. Digging under the first conversion rule causes the end effector to move according to a target path derived from the design surface, whereas digging under the second conversion rule causes the end effector to move as a function of the resistance data and a digging efficiency criterion, which allows to move the end effector independently from the target path. The automation and/or operator assistance automatically transitions from the first conversion rule to the second conversion rule as a function of the resistance data.

Abstract: A method for tracking a movable implement of a work vehicle. The method comprises the steps of 1.) accessing images during movement of the work vehicle providing a view onto an environment and at least part of the implement, 2.) providing by a feature tracking algorithm a 3D environment model and referencing of the sensor pose to the 3D environment model, 3.) tracking implement features at different poses of the implement and, determining implement tracking data providing positional and arrangement information for the implement features, 4.) accessing benchmark information providing a real distance between two benchmark points, 5.) using the benchmark information to provide the implement tracking data with absolute scale information, and 6.) using the implement tracking data for the tracking of the implement.

Abstract: A system and method for configuring a machine control unit of a construction machine for performing an earth-moving operation, the earth-moving operation comprising a multitude of phases that are to be performed consecutively, the method comprising, by a computing unit: receiving three-dimensional measuring data of a terrain in a surrounding of the construction machine in at least a first detection range, detecting elements of a previous phase of the earth-moving operation based on the three-dimensional measuring data, and configuring, based at least on the detected elements, the machine control unit to at least partially perform the next phase of the earth-moving operation automatically.

Abstract: An improved controlling of a dumping of a load of an earth moving machine, which has a conveying container configured for carrying the load. Control data for maneuvering the conveying container according to a selected dumping mode are generated by analyzing perception data and/or machine sensing data to determine a material parameter providing information on an adhesive property of a current load of the conveying container. Based on the material parameter, an appropriate dumping mode is selected, e.g. to improve efficiency of the unloading sequence and to reduce wear of the earth moving machine.

Abstract: A controller for an excavating machine, comprising a tool, an arm, a set of sensors and a chassis. The sensors being configured to provide data regarding a pose of the tool. The controller comprising an input interface and a computing unit. The input interface is configured to receive operator steering commands. The computing unit is configured to read a design model, comprising two interconnected polygons defining a breakline and to reference the pose of the tool to the design model. The controller is configured for performing a semi-automatic breakline-transition. The semi-automatic breakline-transition function including identifying a breakline-transition move based on the operator steering commands and the pose of the tool with respect to the breakline and generating operator steering command adjustment commands, based on the pose of the tool and the operator steering commands, in order to align the tool to the breakline.

Abstract: A system for determining a swing boom angle of an excavator. The excavator comprises a lower part, an upper part comprising a cabin, the upper part being arranged on the lower part and configured to be rotated relative to the lower part about a first rotation axis and a swing boom arranged on the upper part and configured to be rotated relative to the upper part about a second rotation axis that an actual swing boom position defines a swing boom angle. The system comprises a first inertial measurement unit (IMU) configured to be mounted on the swing boom and to generate first IMU data, wherein the first IMU comprises at least one acceleration sensor and a processing unit. The processing unit is configured to receive the first IMU data, determine a direction of a centripetal acceleration acting on the first IMU and determine the swing boom angle.

Abstract: A system for determining a swing boom angle of an excavator. The system comprises a first measuring sensor configured to be mounted on a vehicle frame or a swing boom 4, wherein the first measuring sensor is configured to determine a first interim swing boom angle of the swing boom relative to the vehicle frame. The first interim swing boom angle is one of a discrete amount of one or more intermittent first interim swing boom angles, each of the discrete amount of one or more intermittent first interim swing boom angles being spaced from each other by at least a value of one degree. A second measuring sensor mounted on the swing boom to determine a second interim swing boom angle of the swing boom relative to the vehicle frame, the second interim swing boom angle being from an indiscrete angle range and a processing unit.

Abstract: A system for determining a swing boom angle of an excavator including a vehicle frame including a cabin, a swing boom arranged on the vehicle frame and configured to be rotated relative to the vehicle frame about a first rotation axis and a pneumatic or hydraulic cylinder. A first end of the pneumatic or hydraulic cylinder is coupled to the vehicle frame and a second end is coupled to the swing boom, wherein the cylinder is configured to be rotated relative to the vehicle frame about a second rotation axis at the first end, wherein the cylinder is configured to rotate the swing boom. The system comprises a first inertial measurement unit (IMU), configured to be mounted on the swing boom and to generate first IMU data, a second IMU configured to be mounted on the cylinder and to generate second IMU data and a processing unit.

Abstract: A system for planning an earth-moving operation to be performed by a construction machine having a tool for performing the earth-moving operation and a machine control unit for at least partially controlling the earth-moving operation, the system comprising a measuring system configured for capturing 3D measuring data of an uneven terrain in a surrounding of the construction machine, a context camera having a known position relative to the measuring system and/or the 3D measuring data and being configured for capturing context image data of the terrain, a user interface configured for displaying at least one context image to an operator of the construction machine and for receiving user input from the operator, and a computing unit operatively coupled at least with the measuring system and the user interface.

Abstract: A construction machine comprising a chassis, a steering, and a powertrain for driving the construction machine by the chassis, an earth-moving tool for working a terrain, and a measuring system having a first measuring unit configured for generating first measuring data in a first detection range and comprising at least a first camera and a first LiDAR scanner configured for rotating a first measuring beam around a first axis and around a second axis non-parallel to the first axis with a rotating speed of at least 0.5 Hz with respect to each axis, an interface connecting the first measuring unit to a computer configured for, based on the first measuring data, at least one of generating a three-dimensional model of the terrain within the first detection range, identifying an obstacle or a person within the first detection range, and controlling the steering, the powertrain, and/or the earth-moving tool.

Abstract: The result of working with an earth moving machine comprising a bucket may be determined using known dimensions of the bucket combined with determinations of the depth of cutting and the horizontal travel or accumulated length of horizontal travel. The depth of cutting is determined by using the bucket as a receptacle as well as a depth sensor.

Abstract: The result of working with an earth moving machine comprising a bucket may be determined using known dimensions of the bucket combined with determinations of the depth of cutting and the horizontal travel or accumulated length of horizontal travel. The depth of cutting is determined by using the bucket as a receptacle as well as a depth sensor.

Abstract: Earth moving equipment and other heavy machinery for environmentally harsh conditions are controlled by a control panel supplied with a lock, and such panels are frequently removable to prevent theft or unauthorized operation. The interface is in the form of a plug-and-socket, the parts of which have to be sealed against dust and humidity when not interfacing. In order to prevent wear and to assure reliable control, according to the invention, no part of the connection between the control panel and a receptable is galvanic, the power supply for the control panel is wireless, such as inductive or optical, while communications may occur by means of a two-way radio protocol or by optical means.