US 12,296,873 B2
Position detection system, vehicle, and position detection method
Kazutaka Shimizu, Yokohama (JP); Keisuke Kimura, Yokohama (JP); and Eigo Hayashi, Yokohama (JP)
Assigned to MITSUBISHI HEAVY INDUSTRIES, LTD., Tokyo (JP)
Appl. No. 17/435,537
Filed by MITSUBISHI HEAVY INDUSTRIES, LTD., Tokyo (JP)
PCT Filed Jul. 5, 2019, PCT No. PCT/JP2019/026780
§ 371(c)(1), (2) Date Sep. 1, 2021,
PCT Pub. No. WO2020/194775, PCT Pub. Date Oct. 1, 2020.
Claims priority of application No. 2019-055370 (JP), filed on Mar. 22, 2019.
Prior Publication US 2022/0055670 A1, Feb. 24, 2022
Int. Cl. B61L 25/02 (2006.01); G01C 3/02 (2006.01)
CPC B61L 25/025 (2013.01) [G01C 3/02 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A position detection system comprising:
a distance measuring sensor mounted to a vehicle traveling along a track, and having an irradiation source, the distance measuring sensor configured to
irradiate detection light in a plurality of directions from the irradiation source within a predetermined range in a track width direction of the track, and
measure a distance over the predetermined range in the track width direction to obtain distance measurement data; and
a processor configured to
detect a position of an edge of a traveling path or a track floor in the track width direction of the track, based on the distance measurement data obtained by the distance measuring sensor, and
calculate a distance in the track width direction between a reference position of the track, which is specified from the position of the edge, and a reference position of the vehicle to which the distance measuring sensor is mounted, wherein
the edge is an intersection line at which two faces facing in different directions of surfaces of a structure configuring the track intersect each other, and
the processor is configured to
specify the reference position of the track, based on positions of two or more edges of the traveling path or the track floor, which are located at a same vertical height, and
determine the distance in the track width direction between the reference position of the track and the reference position of the vehicle by an equation as follows:

OG Complex Work Unit Math
wherein
reference L is a width of the track in the track width direction,
reference y1 is a first position of one of the two or more edges at one side along the track width direction with respect to the reference position of the vehicle,
reference y2 is a second position of another of the two or more edges at another side opposite to the one side along the track width direction with respect to the reference position of the vehicle,
reference H is a distance between the irradiation source and the track,
reference n is a first irradiation spot corresponding to a first end portion of the predetermined range at the one side along the track width direction,
reference m is a second irradiation spot corresponding to a second end portion of the predetermined range at the another side along the track width direction, and
reference θ is an angle interval of the detection light.