Method for putting down a tool of a construction machine

Abstract

A method is for putting down a tool of a construction machine. A position and an orientation of the tool relative to the construction machine or to a direction of Earth's gravity is determined by one or more of the following sensors including: an inertial measuring unit, an angle sensor, a linear sensor, and/or by an algorithm for determining a kinematic chain of the construction machine. Moreover, an orientation of at least one part of the construction machine, which part touches the ground, and which orientation characterizes an orientation of the construction machine relative to the ground, is determined relative to Earth's gravity. Based on this determination, movement of the tool is controlled, in order to bring a lower face of the tool to the same level and in the same orientation as the at least one part touching the ground, for putting down the tool.

1 . A method for depositing a tool of a construction machine on the ground, comprising:
 determining a position and an orientation of the tool relative to the construction machine or to a direction of Earth's gravity using one or more of an inertial measurement unit, an angle sensor, a linear sensor, and/or by use of an algorithm for determining a kinematic chain of the construction machine;   determining, relative to Earth's gravity, an orientation of at least one part of the construction machine contacting the ground that characterizes an orientation of the construction machine relative to the ground; and   controlling a movement of the tool by closed-loop control in order to bring an underside of the tool to a same level and to the same orientation as the at least one part of the construction machine contacting the ground, for depositing the tool on the ground.   
     
     
         2 . The method as claimed in  claim 1 , wherein:
 the orientation of the at least one part of the construction machine contacting the ground is determined with the inertial measurement unit, and   a sensor signal of an inertial sensor of the inertial measurement unit located on the construction machine is used to determine the orientation of the at least one part of the construction machine contacting the ground.   
     
     
         3 . The method as claimed in  claim 1 , wherein:
 determining the orientation of the tool includes determining an inclination of the tool, and   determining the orientation of the at least one part of the construction machine contacting the ground includes determining an inclination of the at least one part of the construction machine contracting ground.   
     
     
         4 . The method as claimed in  claim 3 , wherein, in controlling the movement of the tool by closed-loop control, at least one joint angle of at least one joint between the tool and the construction machine is controlled by closed loop control, such that the underside of the tool is deposited horizontally and/or parallel to the ground. 
     
     
         5 . The method as claimed in  claim 1 , wherein the at least one part of the construction machine contacting the ground includes one or more wheels and/or a drive chain. 
     
     
         6 . The method as claimed in  claim 1 , wherein a computer program is configured to perform the method. 
     
     
         7 . The method as claimed in  claim 6 , wherein the computer program is stored on a non-transitory machine-readable storage medium. 
     
     
         8 . The method as claimed in  claim 1 , wherein an electronic control device is configured to deposit the tool using the method.