Unmanned Vehicle Loader Positioning Without GNSS

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Solution Overview

Problem

Unmanned vehicles face a decrease in productivity when global navigation satellite systems (GNSS) become unavailable, such as during ionospheric scintillation, making it difficult to accurately determine the position of a loader for loading operations.

Innovation Solution

An unmanned vehicle management system that includes a first unmanned vehicle with a target position sensor to detect the relative position of a loader, a second unmanned vehicle with a dump body, and a management device to manage their travel, allowing the system to operate using scan matching navigation even when GNSS is unavailable.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If GNSS is used for positioning, then positioning accuracy is improved, but productivity decreases when GNSS becomes unavailable due to ionospheric scintillation

Engineering Contradiction:

Improvepositioning accuracyVSAvoidwork site productivity

Core Design Contradiction:

Measurement precisionVSProductivity

Solution Approach 1:

The system switches between different positioning methods (GNSS and scan matching navigation) based on signal availability. When GNSS becomes unavailable due to ionospheric scintillation, the system transitions to scan matching navigation using laser sensor data and map data, maintaining operational continuity and productivity despite the change in positioning parameters

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The management device acts as an intermediary that coordinates positioning information from multiple sources (GNSS receiver and laser sensor) and switches between them. This intermediary system ensures that positioning accuracy is maintained through scan matching navigation when GNSS is unavailable, preventing productivity loss

Inventive Principle:

Principle #24Intermediary (Mediator)

2Productivity

If scan matching navigation is used when GNSS is unavailable, then productivity is maintained, but positioning accuracy may be affected

Engineering Contradiction:

Improvework site productivityVSAvoidpositioning accuracy

Core Design Contradiction:

ProductivityVSMeasurement precision

Solution Approach 1:

The system merges GNSS positioning data with scan matching navigation data in the management device. When GNSS is available, it provides primary positioning; when unavailable, scan matching navigation using laser sensor data and map data takes over. This combination ensures both productivity maintenance and positioning accuracy through data fusion and seamless transitions

Inventive Principle:

Principle #5Merging (Combining)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

The system effectively suppresses productivity loss by enabling accurate positioning and loading operations even in GNSS-denied environments, ensuring efficient work site operations.

Implementation Method 1

a first unmanned vehicle including a target position sensor that detects a relative position with respect to a loader

Methodology Applied

Scientific EffectLIDAR: LIDAR

Data Source

PatentUS20250251741A1Unmanned vehicle management system and unmanned vehicle management method

Publication Date: 2025.08.07 KOMATSU LTD

AI summary

An unmanned vehicle management system includes a first unmanned vehicle including a target position sensor that detects a relative position with respect to a loader, a second unmanned vehicle including a dump body onto which a load is loaded by the loader, and a management device that manages travel of each of the first unmanned vehicle and the second unmanned vehicle.